...I'd love to be able to play a few instruments.
So get started! I know it can feel daunting and like you won't ever be a prodigy now because you didn't start when you were 4, but who cares? There is plenty of good music that doesn't require the most musicianship. You don't have to be a concert pianist to play a chord. And you don't have to be Buddy Rich to keep a beat. Keep doing what you do with what you have, and learn things you're interested in.