Docs can you explain, is it too late to start brushing my teeth again if it's been years?

Maybe not: But you should first make an appointment with a local dentist. You will be evaluated, you will have your teeth professionally cleaned. You will have fillings placed. You will have gum disease treated. You may have some teeth extracted. Then, and only then, will brushing your teeth have any affect whatsoever on your dental health. If its been years of not brushing and no dentist, you need work.

Never too late: It's never too late to start taking care of your teeth and your general health. Keep the gums healthy and your body will be more healthy for it.