Prior Service OSVET to Navy: Age Waiver Required?

Hello wise Navy people!

I'm a prior service Army enlisted person. Ive been reading about the age limits online and it's hard to distinguish.

If I am 36 when I enlist will I need a waiver for active duty? Much of the info says for OSVETS you cannot be older than 39 to ship to boot, and must be able to complete 20 years, but I'm not sure and I haven't met with a recruiter yet.

I want to have my ducks in a row before I try to go green to blue (and honestly I should have gone blue to begin with).

What do you guys think?