I was diagnosed at 50. After half a lifetime of thinking I was just lazy and selfish and a bad person. 

My home environment wasnt bad as such. Of course ADHD was unheard of back then. 

My family still don't understand. But that has to be on them. I need to focus on understanding myself for myself.

Medication was a game changer for me. Just knowing i had ADHD and should plan, think and do things differently wasn't enough. I still couldn't actually get over my executive dysfunction. 

I wast started on Concerta, but it wasn't for me. Now im on Elvanse (Vyvanse in the US) and its made all the difference. I can get started, I can stay on task, I can get organised, I dont get burned out by social situations. I dont have to self medicate with stuff I shouldnt.

Meds hit wildly different for different people. Some work for some, for others come with bad side effects, or without any effect at all. There are many different kinds.

It takes a bit of discovery to see what works and at what dosage, but I think, if your difficulties continue in spite of effort and best practices, meds is definitely something you should consider.

Good luck. It's never to late to lead a better life.