Please don’t be afraid to paint! It is truly never too late. I have a friend who didn’t start painting till her late 20s and she’s a wonderful artist. I also had a professor who was a paralegal and took up painting for the first time in her 30s-40s. It certainly can be learned. I began painting as a kid and it has continued to be a constant in my life. Personally, the best way to learn is to just practice, try different mediums, paint what you LOVE. I wasted a decent amount of time in college painting things I hated (class assignments) and I feel like that hindered me from exploring. Other helpful things: Find artists you like, learn from them. Look through art videos on youtube. Don’t be afraid to explore, paint on wood, paint on leaves, paint on weird objects.
I started experimenting with oils as a teen (I feel like that sounds weird), but honestly my best advice is just to play around with it. Oils have a lovely consistency and blend well since they take much longer to dry. I use odorless mineral spirits to dilute my paint, and I use stand oil to mix while painting.