Being a beginner at twenty isn’t late. It’s just twenty with a new hobby.

Late is a comparison, and the thing you are comparing yourself to is usually a small number of people who happened to start at six. Starting at twenty puts you at twenty, holding a new thing, with decades in which to get good at it. The only genuine disadvantage is that you will be impatient, because adults expect to be competent quickly.

Give the new thing six months before you judge your progress, and keep a dated record of where you started. Practise where other beginners can see you. Being visibly bad in company is much easier than being secretly bad alone.