If I didn't have "fun" when younger - am I doomed?

I'm a 31 year old gay guy from a pretty accepting state in the USA. I can count the amount of times I've had sex on one hand. I had one relationship in 2020-2024 that turned into a dead bedroom and did some damage, I've been in therapy about those difficult years.

I really want to have some gay fun while I'm still young and fit. I want to visit a gay bar, club, visit a bathhouse, other gay male stuff. I've imagined and fantasized about all of this since I was younger (Babylon in QAF?)

I'm very horny. I normally jack off 2-3 times per day. I don't know this translates to a high libido as I've never had a consistent partner to learn this. But the energy is there.

I'm concerned because people act like those kind of experiences belong in our teens and twenties (especially my straight friends). One gay friend says "that's what college was for" and it makes me wish I made different choices. My ex used to act like we were too old for everything (back when I was 25!) and that always got on my nerves - we're at the age where no one can make us feel embarrassed about what we like, you know? One of my coworkers thinks it's crazy that I didn't have a boyfriend in high school - I'm 31 and he's 25, but I guess things really change between 6 years. He had boyfriends and prom dates and first times like it's a high school movie, and I can't help but feel jealous when he talks about it.

I'm concerned that I'm going to have "peter pan syndrome" and go too crazy (people warn about this a lot) or I'll blink and turn 50 and look back with regret.

Any other guys not have a lot of gay fun when they were younger? How did things turn out later?