It is never too late, even on the cross Jesus saved the sinner next to him. Did the individual deserve it, no, he was dying and had committed sins throughout his life and even at the very end God was moved with compassion to save. The prodigal Son is a great example of how God looks all of this. No matter what we've done, whatever shame we carry if we ask for forgiveness he gives it graciously.
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So he got up and went to his father. "But while he was still a long way off, his father saw him and was filled with compassion for him; he ran to his son, threw his arms around him and kissed him." Luke 15:20