Very similar situation here. I attended a few random classes of various schools of martial arts as a kid. It was not till leaving the health profession as a front liner only to contract Covid after the fact two years later. Regardless I had always wanted to practice Karate. I started last July 2021 I was 40. It is now February 2022 I’m now 41 and have advanced at my own pace. I was not worried about feeling lack of train in for experience I just jumped in full on found a style and dojo in town that clicked and I have not looked back. So middle age any age if you want to start just start.