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I understand the feeling because some of us here made the same mistake, we didn't buy when we were introduced to Bitcoin while some of us didn't take our Bitcoin investment seriously and we sold it early or lost it in our attempt to double it. If there's anything I've learnt about life is not to wallow in my past but to make the future counts. So I don't think you're late if you grab a bag now and hold because no one knows the future of Bitcoin in the coming years. Use DCA and be filling your bags gradually, and I'm sure in years to come you will be very proud of your decision.
If we talk about regrets in the past, we have thousands of regrets, not just bitcoin, but life is always moving forward, the past is the past we cannot change. What is more important is that we do not let the mistakes of the past repeat themselves. Everything is just starting, it is still very early to invest in bitcoin, and whether we really want to correct our mistakes or not is up to us to decide. Don't let us come back here 10 years later to regret it again, it would be a travesty for the world.
Many people also missed bitcoin in the last 10 years but they took the opportunity to fix things, I hope OP will do the same instead of whining and doing nothing.