Tough topic. There are certainly points on each side. I'm personally pro-life in voluntary scenarios after having two kids and watching 8 week ultrasounds of my boys with fluttering hearts. It's a joy that's hard to explain to non-parents. And nobody can tell me that isn't a life.
Pragmatically, and politically, I sit in the "safe, legal and rare" camp. Rape, incest, health of the mother, etc - those are pretty easy calls where I would guess ~90% of people are in agreement. What is more difficult is voluntary abortions within the first trimester. Morally, personally, I couldn't do it with what I know. But I would have been for it as a younger person without kids. And outlawing it presents other issues.
Voluntary late term abortions are barbaric. I would hope 90%+ agree there as well.
Unfortunately, states will probably struggle to find the right middleground given the polarization of state governments.
As for the decision, it's probably the right one constitutionally. Congress should pass a law if they want abortions. The Court's job is to interpret the laws that exist. When a federal law does not exist, it defaults to the states. Probably an unpopular decision, and to me not friendly to the GOP's midterm prospects, but it's probably the correct legal call.