At 34, out of shape and 220 lbs—can I still turn my health around?

I just came to the realization ill be 40 in just 6 years. Im way out of shape. 5'9" and 220 pounds. I was about 145 when I was 24 and could do 24 push ups without much effort. Now I can barely do one, and i get winded from going on a 15 min walk ok level ground. Im afraid that even if I start to exercise and eat right, I've reached the point of no return, and my insides are all fucked up already, and im destined to be a cripple by the time im in my 60s. I mean, I go to the doctor often and I have high blood pressure which is controlled with meds.

At 34, out of shape and 220 lbs—can I still turn my health around?
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