Yes it is. Mid-fifties here, only managed to get my head screwed on reasonably Ok in, um, my late 20s?
Luckily my lovely OH stuck by me as I peeled all the barnacles off (as it were). I learned a lot from seeing how his (happy) family worked. Up til then I'd pretty much had no examples of a healthy relationship and not surprisingly just expected my own relationship to die because as far as I could see, that's what relationships did.
As well as just looking with wonder (and surreptitiously taking notes, no not really!) at happy families, I learned a lot from the soft skills courses at work (though again, it sank in a lot more once I was in a firm where people were decent to each other as a matter of course).
As you build your life, over time there will be more and more to your life that's not your bad childhood. You'll have built good relationships with normal (ish) people, you'll have had pets, and bit by bit you'll feel the crap from the past crumble away.
I never did have kids but I never wanted them - thought I might change my mind one day but, well, didn't happen. Reckon I could have coped by my early 40s. But bear in mind it took me years to work out that there were bits of me that needed to change and more to work out how to change them. There's so much more help and info available now so in a weird way you have a head start.
What category said is fantastic advice. Oh and if you've not read "The body keeps the score", try that. Great book, very clear and evidence based, about trauma and mental/emotional processing and how to rebuild.