I failed as a man. Is there a way to truly recover from the damage?

I turn 28 later this year as I inch very close to hitting my 30s. I have missed a lot of major developmental milestones in my youth, and I feel like I am reaping it today.

I have never had a real girlfriend or been in an actual relationship. I have only had sex with one woman only one time during a weekend fling. She was 16; I was 20. I felt like I had to sell my soul to get this opportunity. She was also a virgin too supposedly. I never actually "made love" to a woman before.

Meanwhile, I am watching the vast majority of my peers growing up get married, have kids, and/or both.

I have a very bad track record. I have been unable to maintain stable employment. I never held a job for more than a year. My mental health sucks. I also have a criminal record now (stalking and harassment). I am socially inept.

In terms of socio-emotional development, I am very behind and immature for my age. I feel I haven't "fulfilled" my youth to move on to the next stages in life.
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I failed as a man. Is there a way to truly recover from the damage?
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