Is it too late to begin learning skills and begin doing things I should have been doing at 20?

It is NEVER too late to learn new things although the ability to pick them up quickly and run with them might slow down as you age. For most people, once they stop learning- they stop growing so keep at it and challenge yourself every day.

My last formal qualification was achieved at the age of 58 but, aged 72, yesterday I discovered a historical fact that I had no idea about previously, that sent me scurrying to Wikipedia to find out more. And todays planned reading, based on one of the Christmas present books I requested, will move me onwards in another historical area, opening a new idea or three in my never resting brain.