I played lead guitar in a rock band way back, its as good as it looks and the women are plentiful. Van Halen, Pink Floyd, Metallica, The Scorpions, Pearl Jam. I always thought it would be cool to be able to sing well though. Nothing like being in the moment when each member of the band is hitting their spots. It seems effortless, almost like you are watching it happen while doing it.
I encourage anyone at any age to take up an instrument. And the thing to remember is it is like pulling up a piece of tape stuck to the table. It takes a while to get your fingernail under the edge, but once you do it comes right up. Put another way it may seem like it will take a long time to get to where you can play something but after a couple months (depending on how often you play/practice) it will start getting a lot easier. Especially on the guitar. When you start it hurts your fingers, you get callouses and painful fingertips, but that will soon enough go away and you'll be running scales and bending strings like David Gilmour of Pink Floyd. His solos are not technically that difficult but they are considered some of the best in rock history. One description I heard of the second solo in Comfortably Numb is "this is what it sounded like when god was creating the universe".
Any instrument, just pick one and go.