I am over 50 and in therapy. Wanting to better yourself, to grow, to feel more comfortable in your life, to have a richer life full of close relationships ... are things to desire at any age.

Worries about feeling stupid is something to work on and get help with in therapy.

Age is not too relevant because symptoms evident at a certain age that don't get worked on are likely to continue until resolved.

Why not meet with a professional and see how it goes?