Musically, can you learn your way out of being tone / beat deaf?

I know nothing about music. All I know is if it sounds pleasant to my ears or not LMAO

But I've always wanted to be able to sing well, but it seems impossible for someone like me

Even when trying to create beatmaps for the Dead as Disco game, I genuinely have no idea what in the song is the beat. When I tap to songs or anything like that, I always do it to the words, not this mythical "beat" I've heard so much about lmao

I also don't really know what harmonizing means, though I do kind of have a suspicion? Sometimes when I'm trying to sing well to a song, my singing and the original artist's singing like... merge? Overlap? Idk how to explain it. But I can hear a difference. This mostly happens when I'm singing Hey There Delilah, when he goes "ohhhhh it's what you do to meeeeeeee", and it's on the "ohhhh" and "meeee" where I can hear the 'merge'

Most of the time when I sing I just either do goofy voices, go super high, or go super low just to have fun. And I love that, don't plan on stopping, but I'd also like to sing well. Sometimes I try to sing well, and I don't think I'm TERRIBLE, but I'm also not good lol

And due to financial reasons, I can't take singing lessons, so it'd have to be a self taught thing