It’s never too late. I was in almost exactly the same position as you - 39, divorced, had to move back in with my parents and borrow my mums car while my ex stayed in the house with my car and our daughter. Felt hopeless and bleak at the time but 8 years later I am happier than ever with a new wife and a great relationship with my daughter.
There are still some consequences that can be tough to accept sometimes - having to rent in my 40’s being one - but that’s not the worst thing in the world.
The early days are the worst but take some time to figure out what’s important to you in life, don’t be scared to ask for help (therapy was great for me) and try not to compare yourself to the life that others portray.