First time dad at 31!

Hello my fellow Jewdditors! I have a weird question that I wanted to get some insight on regarding family life and being a parent.

I was blessed to find my wife at 29 y.o. Fast-forward a year, we got married. Another year after that, and we’re currently waiting for our little girl! To say I’m excited is an understatement. I absolutely adore children and really really wanted to be a girl dad. I do have a minor concern though that I’m going to be a first time parent at the age of 31. I understand that this is the norm in many circles, and I am grateful to G-d that I grew and learned so much in my twenties that has allowed me to be the person I am today. I learned how to love and respect my partner, work 24/7 but still commit time to my family, love and respect my religion but still ask millions of questions, etc. Financially speaking, from the age of around 24, I was making enough money to live modestly. If I would have had a child then, I would be a bit more financially limited but could still get by, especially with the help of my parents and siblings. I’m a bit more stable now but not wealthy by any means.

The question I have is for parents. Did you wish you had kids earlier? Those who did have kids earlier (early to mid 20s), did growing together with the kids help the family? Or was it so difficult that you wouldn’t have minded waiting. I kind of wish I began having kids around 25/26. I have a fear that age will take its natural course and prevent me from having energy, being a good enough dad, or just being able to connect mentally with kids when they’re a bit older because our age gap will be a bit larger I’m used to.

I’m also terribly scared that my parents (mom, 56, dad, 63), will be old when my kids get older. I had such a wonderful and loving relationship with my grandparents (they were 48 and 55 when I was born), but they were most amazing to me during my formative years and teenage years. After they passed away, I have this horrible fear that my kids won’t be able to spend as much time with my parents as I would have wanted.