My child will be attending Yale this fall. The final Yale financial aid offer ended up at $13,000 for our part for the first year. A top-three liberal arts college made a final offer of about $22,000. Our state flagship university came in at $28,000. Brown University came in at $32,000. Household income is a little over $100,000/year.
We have one of the worst houses in one of the better neighborhoods in our city; Zillow shows it to be in the $600,000 range (we paid $100k a long time ago). We have no new cars. We have one other child in college. I mention all this to say that we are very happy with Yale financial aid (so far).