I think it's all relative to what you would consider successful. Some people can live on $20k per year, while others would think that was ridiculously low, and still others would be envious, only dreaming of having that much money.
I've never met anyone who claimed not to be broke, no matter how much money they had. How are you doing, Bob? Nice new car you got there. Bob: Oh, just getting by, paying the bills, you know. Everyone is always just getting by, even if they own two houses and three cars, the mortgage payments are just killing them, aren't they? Yet they manage to get by, year after year.
So, from what I've seen, there are at least a small handful of self-published authors making enough money to support themselves comfortably, but I suspect they might disagree with me, since they're still just getting by like the rest of us, and probably always will be.
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