Is it ever too late to become religious (I committed a lot of sins)

Is it ever too late to turn around, I'm terrified Allah SWT won't forgive me, I've committed a lot of SINS, major ones messed up ones, I hate myself I fell for satan's trap and kept going ever since I was a kid and the sins only became worse as I grew up, every time I try to get religious I fall back down and there's a voice in my head that keeps saying you've committed too many sins it's too late for you just keep going atp? I haven't done anything like shirk, murder, riba but I've committed OTHER MAJOR SINS I won't get into the details but mostly lust related sins? What do I do? Does Allah forgive every sin? I hate my self so much why am I like this, I actually need therapy.

I should also mention my entire family tried their hardest to keep me on the right path and they still do but I was just too stubborn and never listened to them. I am 17M btw

I also need advice on how to stay on this path.