Dear vashibashi,
I appreciate your candor, and believe this is a very fair question to ask. I wish I had considered this much more carefully when I was 18-20.
My shorter answer is, for salary estimates, look at the APA estimates and also the Occupational Outlook Handbook (put out by the government, free online), and take those numbers seriously - you can do better than them for sure but I wouldn't assume blindly that you will, and there's a good chance you will be in those ranges. Consider also that 100k is not 100k, because you will lose a substantial amount due to a variety of taxes (and if you want to live in California, get ready to pay an extra 10% in taxes after 40k or so IIRC), and if you do things prudently, you will be stashing away a lot for retirement also early on in your career.
As for the longer answer, here are some thoughts. While you want to do good things for people, and this is to be lauded, presumably you will have family obligations and don't want to be stressed about money so that you can do what you want and what you believe might be most useful to others. Often in our field a false dichotomy is presented that is something along the lines of "they may make lots of money, but I do something meaningful." I personally do find a ton of meaning in our work, but if finances are neglected, a lot of problems can arise, and I don't believe it has to be this way. Other careers can find a lot of meaning as well, and it may be good to keep thsoe in mind. You mentioned that "as long as I have enough money to live in a comfortable home (not a house), have a decent car, be able to eventually support a family and provide them with nice things (think name brand), and travel the world annually, I think it's safe to say I'd feel accomplished." I think this is a fair goal, and for the aforementioned reasons, you likely need more than 100k, especially in California.
Perhaps more importantly, a big thing about the income isn't the things you want to buy or do, but the freedom it gives you. If you have a job that is terrible, you can quit because you can put your excess salary in savings so that you can wait and find a job that treats you well. I can't begin to tell you how many people, either subtly or explicitly, have told me they have work they don't want to do, but have to do because of needing the income. It could be a completely awful job, but it could also be small things such as taking on a client who pays well but is a total pain to you and your staff, or needing to write a grant on a topic you don't love but you think will get you promoted (and yes, you have to run the grant project if you get the grant, so consider multiple years spent towards something you don't really want). If you get a serious illness, well first always keep good health insurance, but even then after the ACA you may well have to pay 7k/year to cover all expenses, plus lost salary - if you have savings then you can take the time to get all of the R&R you need and not worry about your job, etc. (same goes for if a family member/child gets ill), and you don't spend the time worrying about how you will pay the electic bill or what will your employer think.
I suspect what you are looking for is a return on investment (ROI) calculation (Ollie123 mentioned this as well), instructions for which can be found online (commonly are done in the context of business school). Be sure to include early savings for retirement that otherwise would be lost due to time in school and debt. You may find this factor makes a staggering difference; I recently compared with a 20 year old undergraduate the difference between Psy.D vs. MSW, in her situation her income with a MSW was less but she would actually have an extra $400,000 by her early 30s due to increased savings and less time spent. Early investment is HUGE. A quote attributed to Einstein reads something along the lines of, "the power of compound interest the most powerful force in the universe." Bogleheads.org and mymoneymustache.com are good places to start IMHO if you are curious. From what I have seen the white coat investor blog/book is good and has many good principles, but the advice is often tailored to higher salaries which may or may not leave an information gap in your case.
A BA/BS in psychology is one of the most poorly compensated college degrees (and if someone ends up being compensated well, often it is in a scenario where another degree would have provided the same or better return), and in getting a doctorate at minimum you lose the opportunity to make real-world salaries and add to savings/retirement early in your career, and often debt is added onto the situation. Sadly, many faculty in psychology do an extremely poor job forewarning of financial principles until much damage is done. Given our market economy, they will keep offering these programs as long as people keep applying (and paying their salaries; there is a huge conflict of interest, as if they told you to not be in psychology, they wouldn't have students registered in their classes, which feeds their families). Do something that is good for the world, and you find great meaning in, but don't be a casualty of a one-sided narrative provided by many without being fully aware of the risks, options, and possible win-win solutions.
If I may, allow me to make a couple of suggestions to you. You mentioned that you have narrowed down possible career paths to CRNA, Psych NP, and some psych field requiring PhD/PsyD. My first suggestion is to continue to consider these, but also consider all walks of life (e.g., you can help people with psychological problems as a businessperson who helps start new clinics, and other creative ways). You are still young and have time to change career paths, which will become substantially harder in your late 20s and early 30s. My second suggestion is to find some older people (probably above age 30, people who have to consider things like supporting partners, raising kids, etc.) who are willing to be candid with you about money (might be your family, family friends, people in shared religious group, heck could go to a Bogleheads meetup). Go to lunch with them and ask about prospective incomes vs. happiness in their specific careers, and specifically how much money is needed to do what you want. I've done this, and it's helped me a lot, but it would have helped me much more if I had done it at your age. In particular, I think diversity of career paths are helpful - people in psychology have some more insight than other careers into some aspects of these decisions, but frankly also some blind spots that people in other careers (e.g., finance) usually address better than we do. Ask them for book recommendations (and look at the aforementioned websites for good books), and read them, cover to cover, maybe read 1-2 books/year. If you make the decision correctly the first time, it will save you MUCH time and hassle relative to switching later - make this a big priority, like you would a college class. Best of luck.