You can still catch up on experiences that you missed out on. If you notice that you can't do or don't know something that other people are able to do or know, then learn it. If you're sad that you didn't have certain experiences, have them now. (Just remember to stay safe if your people skills are not very developed yet.) Do what makes you happy!

I don't think there is such a thing as being too old for something or learning things. If you're afraid that people might find whatever you are doing and catching up on weird, just do it in private (as long as it is legal, but I assume that's what you had in mind anyway).

I'm in my 40s and still catching up on a few things that I didn't get to experience as a child, teenager or young adult, and I'm glad I do now because it's fun, sometimes helps build character, and often finally helps me understand something about others that I was always puzzled about. Sometimes, it's humbling to learn something so late, but who cares. Life is short, enjoy it!