The failure limit is 2,000,000,000, which is ten times more than the autovacuum_freeze_max_age cutoff of 200,000,000. So there is nothing to worry about there, you are very far from failure and it will automatically kick in in plenty of time.
But once an anti-wraparound vacuum does kick in, it might cause inconvenience due to the table lock. So you might want to do freezing (like with
-F flag to vacuumdb) at a time of your choosing to preempt it from happening automatically at some time out of your control.