Does anyone else in their mid/late 30s feel like it's too late to get their shit together because by the time they do they'll be 40 and just starting living life while other people their age are settled down with established careers and relationships?

Like with school. I plan on getting a master's and PhD once I get over my procrastination/perfectionism problem. I'll be in my late 30s/early 40s in a class full of students in their mid 20s! 

Or relationship wise, I'm still a virgin. How do I go on a date with someone my age and tell them that?!

I want to get my shit together, but I feel like it's too late pointless now.

Anyone else feel this way or have any advice, anecdotes, real life examples?