No, it's not late at all. You can learn a new instrument at any age. It takes about 5 years to to reach intermediate stage, and 10 years to become an expert at any instrument, given that you keep learning and practicing.
So you can start at any age, and that's your roadmap for the next 10 years.
And yes, you can learn piano from YouTube videos and also using step by step method books in parallel, like Alfred piano method or Faber piano method, and you can use apps like Piano Marvel on a tablet to judge your playing and help you practice.
Good luck and have fun! 😊👍🏽