If the retirement funds are in a protected account (IRA, 401k) the corpus of those funds are not considered but the amounts contributed in the last year are. Your parents could be putting $30-40k into those accounts and that would be considered income. When you run the NPC, you need to know that amount. You could try to figure out the ‘family’ EFC for a family of 6 with $200k in income, and then divide that by 4 for each of your federal EFC. That will tell you if you’ll get federal aid (unfortunately, with an income of $200k, probably not).
You all need to work together to figure how much the parents can contribute for each child. If they think that’s $10k per year ($40k total per year), that’s the budget you have to live with.