I go to alot of music festivals and so thankful that there are thousands of people who are just having fun, dancing to the music the way it makes them feel and noone judges you. Noone thinks its cringe, awkward etc. There are plenty of middle aged people and I even met an 80yr old at one once.
Similarly I have watched live streams of these events and you never see any nasty comments about how people who are caught on camera are dancing. If anything its only ever positive ones like wow look at those guys bringing the energy or throwing down shapes.
Dancing doesn't need to be perfect unless you are in some competition. Its not cringe or awkward and you are never to old to be doing it.