For instance, 75% of retirees have faced major challenges or minor occurrences that led to setbacks – from a family member of close friend dying (42%) to significant financial setbacks (20%). In addition, 29% of retirees said they were forced to retire unexpectedly. However, 80% of retirees also told Edward Jones that they had experienced the kind of positive gains that make life better, such as becoming a grandparent or taking a dream vacation. In fact, many respondents reported feeling freedom and happiness in retirement with reduced anxiety.

"Today's pre- and current retirees know they will face challenges but are willing to make adjustments, trade-offs and course corrections to improve their quality of life and sense of well-being as retirement continues to last longer than ever," said Lena Haas, head of wealth management advice and solutions at Edward Jones. "We are encouraged to see that Americans understand they need to have a flexible plan and feel confident in their ability to handle the unexpected, particularly if they can learn from the experiences of others."

Related: Employees prioritize 401(k) plans with $1.8M retirement savings goal in mind

The survey highlighted several areas where retirees say they made "course corrections" in their finances that have improved their retirement experience. Those included reducing or eliminating mortgage, credit card or other debt (60%); saving as much income as possible during working years (50%); obtaining supplemental health insurance (42%); and developing and following a financial plan and budget (40%).

In addition, 76% have cut their spending, partly in response to the recent volatility of the economy.

"The more proactive course corrections you can take the better, including saving early, following a plan and budget, and educating yourself about finances," the report said.

The study also dug into the way millennials view their parents' retirements. In particular, 68% of millennials worry that their parents may not have enough money to live comfortably in retirement, while 61% are concerned that their parents may become financially dependent on them. Meanwhile, retirees sometimes find it challenging to balance support for their adult children with their own financial security. As a result, 69% of retirees have limited the financial support they provide to their adult children or other family members and 63% have limited bequests to their heirs, according to the study.

According to the report, only 27% of retirees and 30% of pre-retirees work with financial advisors. However, those who do work with advisors are much more likely to feel confident about handling unexpected financial changes in retirement than those who do not have an advisor – 94% to 78%. Of those who either work with an advisor or are open to working with an advisor, 63% of retirees and 70% of pre-retirees said that they prefer advisors who provide holistic retirement strategies.

Haas noted that a thriving retirement often depends on how well people are able to contend with challenges and make course corrections that allow them to adapt when faced with unexpected obstacles.

"Working with a financial advisor who can help you prepare for and adapt to the cannonballs, curveballs and windfalls is crucial to success across health, family, purpose and finances," Haas said. "This research makes us optimistic that many of today's and tomorrow's retirees will make resilient choices to thrive in their retirement, setting themselves up for an active, engaged and purposeful life."