I'm still about 5 years away from retiring. I've planning this for years and I got a nice pension. But I'm still worried.

You should either find more retirement income, downsize or move, or continue employment as your mortgage obligation will need to be paid. You have options now because you are employed and most likely have fair credit.

Generally speaking, most people would simply sell, cash out, and either buy something a lot smaller, or rent, as opposed to just letting it go into foreclosure. Before you get into any money issues, you could always look into a reverse mortgage.

best to sell the home if you arent able to keep up with payment ...another idea/ option would be to consider a reverse mortgage