No, nowhere near too late.

Get on some dating apps, and go on some casual dates. Now remember, especially to start with, these dates might not be what you hoping for. Some of them are going to be boring, awkward, uncomfortable etc. Most people will be fine and you'll have an okay time by you won't click with them. Some will be awesome but not interested in you, some will be assholes.

You are starting where most teenagers start with dating, so no, you are not going to be super charming first time out. That's okay! Each cringey date is a step in the right direction to figuring out the kind of women you like and how to present yourself so that those women will like you.

Tell your mates the funny stories of the bad dates over a drink, them move on and don't take it as a personal rejection or failure.

When it comes to sex, I would recommend mentioning it beforehand. Like with dating, you will not be a sex god on your first time, and it's better that your partner knows it's inexperience. Being a good lover is a skill and it takes practice, but 90% of being good at it is enthusiasm, generosity, and a willingness to learn.

Just get out there! As long as you are comfortable with the fact you are going to make a bunch of mistakes and take some rejection, you'll have a great time dating, gain a bunch of confidence and experience, and maybe meet someone ready special. You seem like a nice guy with a lot to offer.