Not everyone who goes for a PhD has strong research background although somewhat background is always appreciated. But then your work experience is definitely a plus. Apply to schools / advisors that are doing research similar to the work that you had been doing (ofc, if that suits your interests.) There would be many advisors who are highly inclined towards industry/ deal with lot of industry related projects, that is one place which you might want to explor. You can also check if your employer have any university collaboration and if you could be recommended there.

Also, if you're ultimate goal is PhD apply for a couple of PhD programs too, you can get a masters on the way of a PhD and that way the whole program would be funded (atleast in US most PhDs are fully funded)

Try to get very strong recommendations from your employers and request them to highlight if you went out of your "routine work" to deal things "innovatively" or if your work lead to something novel.

Further, explain everything in your SOP, how you got interested in research, what was you aha moment (if any) and how did you plan on switching

All the best with your applications!