The one thing I would ask you to perhaps revisit is your conclusion that you never reached your potential. "Potential" is one of those words like "Average" that get abused when used to measure your self against everyone else. Don't let Society pigeon hole you. Try to separate the vagueness of "Potential" into your actual Dreams, Desires, Goals. Also, you're "only" 41. (spoken from an almost 56 year old.
I've managed to figured out the things I'm really good at and do them.
I'm trying new things I suck at and it's Scary.
I very much feel like I am in the middle of reaching my potential.
What more is one supposed to do ?
True, the "potential" I've strived to fulfill my whole life has been built off of the expectations of others, there's no doubt about that. I'm going to be more true to myself now, and that's going to take some time to figure out.