My point is not about how you got there. My point is that you undervalue what you have.
Perhaps the most important point, and one not made here elsewhere, is that merely the fact of starting to create a company will impact your existing revenue stream. You will instantly become distracted by "working on the company", and whatever your current magic formula is will suffer and revenue will go down. The moment you start to "make a company" your magic formula will get less and less magic until soon you've got 10 employees, a lease on an office, taxes, problems, a sales team, politics, accountants, hiring and recruiting, and then you need to feed that beast with ever increasing numbers, and you'll stop taking all that juicy cash for yourself because you'll be "investing it in the company", which is to say "spending it/getting rid of it". Your magic formula will be gone and you'll be just another ordinary company.
And if it did take ten years to get to this point then why the heck are you in such a damn hurry to change your situation.
I think what you should do is change the way you see your current position.
Currently you are WILDLY SUCCESSFUL. You seem desperate to risk that for what - greater success?
What you propose makes no sense. Just keep doing what you are doing. Keep raking cash off the table and start to think to yourself "wow, I'm one of the most successful people in business".
The problem for you is you are addicted to "entrepreneur porn" - you are reading about all these other people who run REAL companies, who EMPLOY people, have OFFICES, and INVESTORS and IPOs. All that stuff is nowhere near as valuable as it is made out to be. You have done the most incredible thing which is to pull in huge amounts of cash with none of that crap. Wow. But you seem to feel that it's not enough success. Readjust the way you see your achievements to date and readjust what the real value is of "having a company".