my dogs are 2 years old and still pee everywhere

i feel really embarrassed even posting this but i need honest advice. i have two dogs that are both around 2 years old now. i got them as puppies during a really chaotic time in my life and if im being real i probably wasnt as consistent with training as i should have been. i work full time and back then my schedule was all over the place, so potty training kind of turned into just cleaning up messes and hoping they would grow out of it.

they are both healthy as far as i know, theyve been to the vet for regular checkups and nothing major has come up. the problem is they still pee inside almost daily. sometimes its right after theyve been outside. sometimes its random spots around the house. its not just accidents when im gone too long, it feels like they just dont get that inside is not ok.

i know this is probably my fault for not setting better habits early on, but is it too late to fix this at 2 years old? do i basically have to start from scratch like theyre puppies again? would crate training at this age still help or is that going to stress them out?

for anyone who dealt with older dogs that were never properly house trained, what actually worked for you? how long did it take to see real improvement? im willing to put in the effort now, i just dont know where to start and i feel overwhelmed.