Is it too late to let my cat outside?

My cat has ALWAYS been an indoor cat. He's about a year old now, and he's never been outside, except a few times I'd let him out back to walk the yard for about maybe 5 minutes. He's recently neutered, and afraid of cars, but my mom wants me to make him an indoor/outdoor cat. Is it too late to let him go outside?
Is it too late to let my cat outside?
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