You're not alone and discussing retirement on the internet is often an exercise in flexing one's wealth or misery. There are lot of assholes on the internet that will basically make it sound like you should just kill yourself if you didn't start your IRA at age 18 or 20 or whatever.
The medians in the OP tell the story about where we're actually at in society in saving for retirement. All these planners and such say you need to have millions of dollars saved up and that's just not going to be the case for 90% of society. I get that we're in a "fuck boomers" mindset politically right now but taking care of the elderly is going to be a major issue as fewer people retire with pensions or adequate retirement plans and more and more people retire with insufficient savings.
I think it's important to understand how important it is to save for retirement. I also think it's important to recognize that many people struggle to save anything. That said, if you're 35 you're far from hopeless. You can easily invest soon and be ok. I hate the despair people try to burden people with who didn't save in their 20s. The best time to plant a tree was 20 years ago, the second best time is today.