My penmanship pretty much always sucked… then both my hands were severely crippled in my 40’s (typing with thumbnails). The ironic twist is that I am fully functionally ambidextrous! I could mirror-write! It irritated me that I was unable to hold a pen or pencil but over the years, (I’m in my 70’s now) I’ve re-gained the ability to hold writing instruments again and re-learned the skill and — again — ironically, my handwriting is apparently now so lovely that it actually gets comments!
It’s never too late! Keep up the good work!