Imagine you are a woman on a date. When I say imagine, actually take some time and imagine it. The excitement she'd be having, some amount of nervousness, some curiosity, expectations, all of it. Mimic, for a minute, every feeling she'd go through.
Now imagine your current self, who she (you) is supposed to meet. Don't mimic this time, but observe. How you arrive, how you appear, how you communicate, what you talk about, how is your 'vibrance'.
What kind of emotions are created within her, when she sees you, meets you, talks to you and listens to your story? Take an hour when you don't have work and imagine very, very deeply each moment.
Would she feel emotionally elevated? Feel happier? Better? Will she think it was a great evening? Will she wonder how soon can you meet her again? Will she think you'll be able to not only protect and provide for her, but will give her a great (not boring) life ahead?
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Which of her expectations are you delivering when you carry the attitude you currently carry?
Do you think, that using it, you'll make the other person's experience better? If no, then do you realize that some work is needed on yourself?
Being a good person, is great. It is rare. But, its not... sufficient. You won't date any random girl, even though you might claim so. You want somebody who excites you, who draws you towards her. Who makes you think about them all day. Who makes you a bit nervous in their presence.
Women desire the same.
So, you'll have to work on those things.
As for the age, its always a bit late. You could have started yesterday, or a year ago, or a decade ago. But remember, our limitations and faults make us different from, let's say, 'gods'. The situations in your life were such that you couldn't.
But its never too late, you can start now. As for the things you might feel you missed out on, well, two comments on that:
We do not feel missed out on things we didn't get to do or experience. We only feel missed out on things we attached ourselves to and then didn't get to do or experience. The one who suffers the most is the overthinker.
So shed that burden off of your shoulders.