I am not one of the most experienced here, but this is my take

I would work on baby step 2 and 4 at the same time. Given that you don’t have a lot of years until retirement, I would not keep putting it off. But, you do not want to enter retirement with any debt. Aim to have the student loans paid off by then.
Another question, does the rental property pay for itself? Do you have equity in it? Would it make sense to sell it to pay off some other things or does it make better sense to hold onto it to help with income?
Can you increase your self-employment income in any way to help pay things off quicker?
As much as you’d like to help you kids with college, that cannot be your first priority at this point. It’s more important for you to enter retirement without debt and with something to live off of. I’d say that is even more important given how uncertain our economic times are.