Can I say, your life hasn't been a waste. You have parents who love you, friends who's lives you enrich, lives you have touched somehow without you even realising
Your life is only half way through, dont be so hard on yourself
Guess what? I never learned to drive till I was 44.
I too felt how you are explaining yourself when I hit peri menopause and tbh my early 50's weren't good. So much self flagellation over the what ifs, could/should have done better
What changed for me was seeing the GP and admitting how I was feeling and accepting medication. It took the edge of the anxiety, not straight off, took a while before I realised I was actually the same as everyone else
I too was in low paid work, which was fine, but in a toxic workplace. So I jumped ship, still low paid, but in a place where I am valued and that has really lifted me, built my confidence , encouraged me to make friends with co workers instead of keeping them as colleagues
My life isnt what I dreamed it would be, its a lot different from the plans I had as a teen, but it is what it is. And you know something, covid changed my way of thinking about my worth. Whilst everyone was hiding away indoors, I was an essential worker, I had to go in daily to keep people fed. So I wasnt a nurse or a doctor but I was important. And I keep hold of that, I am important, the job I do is essential, its amazing how that thought has really changed my mindset