That is fantastic to hear, I wish I had done similar and shadowed PAs in college, I may have followed through on the PA route.
You sound very similar to me, work/life balance is what I want more than anything. I see the docs who let medicine consume them, their health, their families may have taken a hit and there are things I am not willing to sacrifice, I'd much rather leave the field if it came down to that.
There's no point in having a job as a doc and the salary, if you're ultimately not happy with the rest of your life.
It seems like the PAs you spoke with have a good bit of autonomy and are happy with their work and pay, while still having time for their lives. That's not a small thing, and would be a strong reason to go PA if work/life balance is important to you too.
On the other hand, I'll mention that I have read on this site that PAs can have rough hours too depending on what setting they are working in. And I have met happy doctors, who have their lives together, so, I wouldn't say work/life balance is ruled out by picking med school. Just, being a doc, you may need to wait till you get through all the training before you get the balance, and specialize in a field and have a work setting that allows for it. My guess is, PA is likely more conducive to have that work/life balance, but it's possible to achieve it in medicine too, it just may takes more effort and time to do so.
So I guess it really comes down to, where your values are personally, and being honest with yourself about it. For me, I wanted to go all out and I think it would have bothered me doing something else. And so I went with med school.
But, if that doesn't matter to you too much and PA is a better fit, then go for it and don't look back. These things unfortunately, you don't fully know if you made the right decision until you've followed through and done it.