Looking at you i feel like you still hit that point earlier in your life than i did. I finally realized at 40ish that i was only limiting myself by holding certain believes. I had such discipline issues (still have, work in progress) and i don't even know or understand how but something clicked with me and i started improving slowly and i feel like the benefits of this are starting to flow my way and really set the tone for perpetual motion forwards.
Keep it up man! The world is your oyster!