1. Buy a house in a place where it's normal for people for rent rooms or have roommates.
2. Rent out all of the rooms other than the one you live in.
3. Renovate the house, depreciating all expenses.
4. Make all necessary repairs, deducting all expenses.
5. Buy things like solar panels, which also can be depreciated (5 years) and improve the cost basis of your home.
6. When the house is paid off from rental income + what you had to pay in mortgage anyway (this will take between 5 to 10 years. This means if you're mortgage is $3000 and your rental income is $3500, don't pocket the cash. Put most of the rental income towards the principal and save some for repairs/improvements.) Buy another house and do a 1031 exchange.
7. Repeat step (1) with a nicer house, ideally with a duplex/triplex/four-plex. Stop repeating when you're seeing diminishing returns on the cash flow of your home (this will likely be at the multi-family level).
Eventually all of your housing related expenses will be 0. Take the money you would've had to spend and put it into an index fund.
Unlike most advice, the above steps are guaranteed to work as long as you buy a house you're capable and willing to pay the mortgage of without renting it out. Finally, because you're an owner occupant you have the ultimate leverage and it's effectively zero risk, since costs are spread across your tenants and benefits go to the property you own.
What's the catch you're thinking? Why doesn't everyone do this if it's guaranteed?
Turns out people don't like being a landlord or living with others. Swallow that pill and financial success is inevitable as long as you don't try to become an investor (that's an entirely different set of problems). You also have to be willing to do this even if you have a family -- however if you started this early enough (up to late 30s) you should be able to transition over to a multi-family in most markets and still have some privacy for you and your family.
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Unlike a lot of other advice, you don't even have to make a lot of money to do the above.