Is it too late to connect with my parents

My parents have neglected me from a very young age. Very emotionally unavailable. I try not to blame them too much because I'm not sure of the way they've grown up, after all if they grew up with the same anger they give me, I hope they heal on their own. Despite me acknoledging this, I still hold deep resentment for them, because I just needed a support system, my entire life. I've always just needed a shoulder. It hurts me even deeper because I can see them trying to change. I had a therapist for about a month and we talked about how I don't feel loved, which could be due to the differences in our love languages and ever since my father found out that I show affection through physical touch, he's began to hug me, even though it's unnatural for him. He still lashes out at me a lot, but he even told me he's going to consider anger management.

Is it too late for me to reconnect with them because of the damage that's already done? It's already 1 million times harder for me to connect with people, to be vulnerable with them, and whatnot. I also still feel bits of resentment but it makes me feel so guilty.

Please help