Regarding kids, wife and family, you are not late at all. A friend of mine had recently his first kid at 48, he is very happy.
If you need a framework for working with psychological issues, I recommend ACT (my wife is a psychology therapist and an expert in that field). It's possible that your current lifestyle or situation is not aligned with your values, so you may need to make some changes to better fulfill what is important to you. Changing can be difficult, but in Western society, we often try to avoid discomfort instead of embracing it. However, it's often necessary to embrace discomfort in order to thrive.
If you need a framework for working with psychological issues, I recommend ACT (my wife is a psychology therapist and an expert in that field). It's possible that your current lifestyle or situation is not aligned with your values, so you may need to make some changes to better fulfill what is important to you. Changing can be difficult, but in Western society, we often try to avoid discomfort instead of embracing it. However, it's often necessary to embrace discomfort in order to thrive.