Yes. Honestly, you can do it and well done on taking the first steps.
I had a 2 yo, a 1yo and was 7 months pregnant when my arsehole of an ex left me. I'd left school at 17 with about 5 crap O levels (old GCSEs). I applied to uni to do a History degree - fortunately in the old days before you had to pay - and was accepted, to my amazement, even though I didn't even have A levels, cos I'd dropped out. They were just starting up (old Polytechnic) and I suspect were desperate for takers, and I was a mature student. Like you, I was 29.
I started a full time degree with a 3 yo, 2 yo and 6 months old baby, got my lectures into 3 days a week and juggled childcare options. My parents had them one day, my ex MIL another, and my SIL on another. I'm so grateful to them. I graduated with a 2:1 in History and am now a Head of History and love my job.
My kids are grown up (eldest is nearly 30 now), I've got another DH and had 2 more DC with him who are teens. I'm late 50s and very, very happy.
But the thing I'm proudest of in my whole life is that I applied for that uni degree, rather than giving up and feeling overwhelmed. I believe you can do it. You've taken great steps and the first step is always the hardest. Keep going, OP - you've a great life ahead of you and so have your children.