Opinions on this mortgage VHCOL?

We take home about $8k/month. (This already includes 10% contributed to 401k). $200k in investments, $10k in savings. $200k down payment available.

$550k home, $200k down, $350k loan, 6.75% int rate, $3,200 PITI. I believe HOA for property is $500/month.

We have no debt including no car payment, no personal loan, no student loan, no credit card debt etc. Would this be a bad idea or would it be doable?