Is it too late to fix life when you been living in the rut for 7 years ?

I literally feel like running away or hiding somewhere permanently because my thoughts are driving me crazy. I'm already 28 but for 7 yrs, I've been living in isolation which means I have not gone to real world like never been to a college campus so I did few online classes. I later gave up because my advisor says you won't get accepted in this program. I did work temporarily but only held 3 jobs. Two which were in fast food for 3-7 months and 1 in retail store for 4 months. I don't drive because of fear and past accident from learning. So I gave up on life. It feels like I've never participated in my own life and taking actions. For so many years, I just feel this disconnection. It feels like all I've been doing in this 7 yrs of life is living in constant state of worries. Feeling overwhelmed and defeated. My self esteem has gone down. I'm barely having any social interaction. I feel like I'm carrying too much shame fear anxiety regrets and much more. I really just don't know how to get out of this rut. Seeing people my age group in real world makes me feel ashamed like this people have already graduated and some are raising a family. It's crazy that teenagers and people in their 20s, are working full time and attending college. This was my plan in those years but life took a different direction because I was caretaker to my father whom later passed away. I had to go back to school to get my high school diploma and joined local community college but I felt like I'm so late to it. And my biggest fault is I didn't continue working and pushing forward on my life.