when i ate tacos frequently, i used to go to this place, el zarape, in san diego, and order the fish taco. there was this other amazing place near the border, where you could get all kinds of taco, like birria and whatnot. and it was like a parking lot with metal chairs.
then i moved away. and i get tacos here and there, but not as good :/
Chipotle is definitely more expensive than the taquerias that directly inspired it. A "super burrito" in the mission district of San Francisco is around $16 now. That has everything on it, including guac, is about the size of your head, comes with chips, and is served by an iconic taqueria paying insane San Francisco rents (I chose Pancho Villa on 16th St for this comparison).
The thing you have to understand about families in like San Francisco or Seattle or LA or NYC is that the housing costs are so high that you really have to spend a lot on food for it to be the thing that is causing you money issues. Especially if you're making $150k, for a family of 4 you could easily be spending $72k on a mortgage. But instead you could live in a more frugal $40k/year place and just live large on restaurant food and not have to cook or do dishes. And if you get laid off you can just cook, you don't have to move.
America is bigger than San Francisco and NYC. $150k is basically three years of gross salary for me and I'm by no means poor compared to most people around my area.