No one is forcing the USA to keep it's European military bases, and no one is forcing the USA to spend 3.5% GDP on its defense budget. You do that out of your own free will. And you spending that amount of money on military, has no bearing on whether you could have free health care or not, the obstacles to that are purely political.
You will get what you wish sooner than later because our defense spending is unsustainable and we won’t have a choice in the end. We’re starting to see the cracks with terrorists hijacking cargo ships without repurcussion.