Its not too late physically, although there is no denying that it may well be more difficult.
My concern is how you describe your life.
You talk about doing other things, your hobbies etc it makes me think that you have your life all sorted out in a way that you and your husband love and are happy with.
A baby will change all of that in ways you cannot begin to understand. Hobbies will always go by the wayside (no matter what we convince ourselves.....and no you wont have time to write a book on maternity leave, a common delusion!) and often one partners (usually the woman, lets face it) hobbies/downtime suffers far more than the others and the resentment starts. That then adds to the fact that a baby throws a hand grenade into any marriage, no matter how strong. The early days/weeks/months/years are HARD. Some people hit lucky and dont find it too bad, but many do just because of the normal stuff like sleep deprivation, illnesses, trying to do all that you used to do AND take care of this new needy creature as well. Arguments, stress, anger, upset, it all happens. Its normal and it does pass but its hard.
The people who, in my admittedly anecdotal experience, found adjusting to parenthood hardest are the ones who had everything sorted. They thought that a baby would simply slot in when in fact a baby changes almost everything.
I get the need, I really do. I had 6 so yes, I do get the visceral physical need, but having a baby is the tiniest part of giving your whole life over to parenting.