Should we tackle down auto loan or start investing in a Roth IRA?

For some background context my husband is active duty and I’m a sahm. We were young (still young but we were younger lol) and dumb with finances up until last year. We finished paying off our credit card debt and almost have a fully funded emergency fund. We are both 26 and my husband has been putting money into his TSP (legacy, C fund) since he’s been in service. He also plans on doing 20 years (maybe longer) for the pension as well. But since starting our financial journey I have been very worried about my personal retirement. I know we’re married and we share everything but I don’t know if his retirement/pension alone will be able to fund us both, especially with inflation.

We have roughly $550 a month from our current budget that we set aside in a HYSA (where our emergency fund is.) We also have car loan of 512 a month at 9.6% with 60 months left until it is paid off. My question is should we tackle down this car loan first than start investing into a Roth IRA? Or just start investing once we have a fully funded emergency fund? We currently have 5k in our emergency fund. I do plan on working (I finish college this Fall) but I’m just waiting till my daughter goes to Preschool next year. I just know the earlier we start compound interest works in our favor.

Thank you in advance!