I do think about my parents and it's a big reason why I never offed myself.
And it turns out at 31 my life did change for the better, so even though my adolescence and early adulthood was hell, I still have a livable life now with decent happiness and dopamine levels.
I just forced myself to see it through. But I was in the exact same spot as Hitoshi at 28, and I do admit I felt extreme sorrow, pain and misery daily.
I'm not saying it gets better for everyone, but in my case I just lucked out.
In a way it's never "too late". Though it does feel like I've just dreamt and skipped through a large part of life, but it no longer pains me.