Returning to Salah after my teenage years: how to find strength in repentance.

Salaam. Alhamdulillah, after a period of wandering in my youth, Allah has guided me back, and I'm now in my mid-twenties. I've learned that I must make up for many years of missed prayers, and the thought feels overwhelming-like I might not even complete a fraction before my time is up. Is this truly the only path forward? Astaghfirullah, I fear for my fate in the Hereafter.