Personally I got a very talented and artistic mother and brother, the two have an huge amount of skill drawing and painting.
As a kid I wanted to have a talent as big as they had, so I started drawing, I sucked at first but when I reached 12 I could draw decently I think...
that being said I didn't felt it was really my thing, I realised I could never be as good as they were...
I felt very disappointed at myself at the time, but, luckily, for random reasons, a guitar came to me and I fell in love with it. I could feel there was something special about it and I developed a very special connection with music.
I recognize myself as a musician and a guitar player, I really feel that playing electric guitar is the best thing I can do... But years ago I realized I wanted to sing too and I'm in a kind of strange relationship with singing.
I mean I don't thing i'm good but I'm still doing it... I keep trying to get better because as you said everything improves with practice
If I got to tell you something it would be to not give up on anything just because you didn't started young
Keep your motivation up, and practice whatever skill do you want to develop !
I came to singing late as well. I know I'll never be great, but I can entertain people. You just have to try these things and find your niche. If it makes you happy then go for it.