Seeking Forgiveness for Missed Prayers, Brothers and Sisters, Please Advise

Assalamu alaikum. I've been really struggling with my salah lately, going months where I barely manage once a week. I feel awful about it. I keep remembering something my mother said, that there's a severe punishment on the Day of Judgment for the prayers we neglect, and the thought fills me with such fear. My main question is this: when I do manage to pray, I sincerely ask Allah SWT for forgiveness for all the salah I've missed and beg Him to guide me back to being consistent. Will Allah the Most Merciful truly forgive those past sins and missed prayers? Can I really start fresh, like a clean slate, as if I'm beginning anew? Any specific duas or advice to help me on this path would be so appreciated. Jazakallahu khairan.