Getting a BA is only worthwhile if your area(s) of interest requires it and you're passionate about the study. Getting a BA simply to be like the rest of your family isn't worthwhile because suppose you graduate in a field you never were passionate about. If you get a job in that area, it's going to be hell for you; you're better off studying something and earning the required degree, diploma or certificate to work (or continue studying).

When I was in my undergrad, several of my classes had mature students. They were often treated the same as any other student in that they could join in various study groups and form friendships if they behaved appropriately.

If you start in the 1st year of university, almost all professors are very welcoming and don't use very elaborate vocabularies. I say almost because there certainly can be exceptions, although I was fortunate to never experience that. If you start in the 2nd year of university, the content will be harder and the expectations will be higher but it's still considered introductory. If you start in the 3rd year, then you'll be with students who, for the most part, are passionate about their study and the professors tend to use a higher vocabulary when necessary.

Some professors will use a vocabulary to project their grandiosity and there's not much that can be done in that case other than deal with it. The good news is you'll be in the same boat as everyone else. Additionally, depending on the nature of the course, you can draw on your life experience to give better and more detailed answers than some of the other students.

Lastly, you can try being a part-time student at first to see if you can handle the pressure and to see if you even like how the course content is delivered. If you do like it, then great, you can either continue being a part-time student or become a full-time student. On the other hand, if you don't like it, then you can try another area or another route.