It isn't too late. I was born in the early 70's and my parents had resources but refused to get me help due to the shame it would bring them. I didn't start to understand who I was until I was in my forties. In the last decade I've made huge leaps in understanding why I'm the way I am and what I can do to compensate for it. Will I every be as natural in social situations as I could have been? No. I can however keep trying.