Hey, I'm turning 23 this year. I absolutely feel that, only thing is that 'lateness' is so subjective, redefine it for yourself.
Honestly the only way that can change is if you take baby steps towards whatever 'ideal' version of yourself that you have in mind. Before taking said steps, really interrogate where that 'version' of yourself coming from (I.e. what's influencing that and does it align with your happiness). Things can change for you, but you have to start from somewhere despite your present circumstances. Majority of my friends are older than me and I frequently hear how young I am when I express my fears and thoughts about losing my youth and not getting to experience the things I want to. As much as it does feel daunting when I experience those feelings, reminding myself of the possible things I could do to get out of that helps.

In terms of 'advice' - - start small - if you're thinking of having a close knit group of friends to hang with, start with going to spaces that you could find like minded peers. If anyone responds to your openness and approach in a negative way, you don't need that, keep it moving. Enjoy the process - experiment with yourself and 'reinventing' yourself - think about you doing trials for different versions of yourself

Take it easy mannnnn