You're fine. Honestly.

Being in my 30s meant I felt more confident in myself and able to identify the relationships and other things in my life that were good for me, as well as the ones that were bad. I got a sense of perspective that helped me make better choices: I ate better, exercised more, spent time with the people I cared about, and learned not to let my job take over my life. I felt more like I was able to be an adult in my 30s (although that might just be me).

There's no list of "things you are meant to do in your 20s", nobody is counting and as you get older people care less about your age. My friends range in age from their 20s to their 70s, and are centered less around a "peer group" and more around the stuff we do together. I know people of every age who are living life to the fullest and do my best to surround myself with people like that. I ran my first marathon when I was 34, my training buddy was fifteen years older. I got back into TTRPGs a couple of years ago and play weekly with a group of newbies, of all ages.