It is actually never too late. If you can find any group therapy that works on things like that it could help.
I grew up with parents who had no social skills & it was hard for me to learn just in school environment. Then I married someone who I thought had social skills but didn't. It was hard to learn good social skills at my career as we were all highly technical people & no one socialized much.
By the time I got out if that environment I was 54 & I started learning how to functionally (vs dysfunctionally) socialize at that point in my life....11 years ago. There are still some awkward moments when things don't come out right but it is never too late to learn