It is never too late to learn and adjust for improvements. While sometime impossible to get where one needs to be with the changes, at least it provides some perspective on how to set a legacy for those behind us. However, we have to be purposeful in achieving these changes as we often are at the mercy of external forces that have driven us to were we are (including our own decisions).
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Yep, this is the challenge as when acting blindly we can be very unaware of all the damage that we could be causing, even to ourselves. I am hoping that going forward in history, we will become increasingly aware.