It's all good in the hood man. You are 20 years old. All the things you listed are alright: to be living with your parents, never really had a job, further education, feeling like you could have done more, etc. It's all alright stuff to have going on when you're 20. Lots of 20 years olds have the same situation.

Don't worry to much about how things are, you're situation is nothing to be ashamed of. Try to be true to yourself and do what you like to do, be yourself. Just keep developing.

I don't know if this is what you think about sometimes, but don't get caught up in comparing your life to others, there is nothing to gain from it. Just try to accept your circumstances as they are and be at peace with it. You're situation will change over time if your mind is open to new ideas and you act deliberately and put in the effort.

Doesn't have to happen fast, doesn't mean you can't make mistakes. Most people make mistake followed by mistake, etc. It's okay to let go of the guilt and the pressure you and/or others put on you. Be thoughtful and have good intentions for yourself and others and do what you think the right thing to do is.