I'm sorry for the loss of your mother. It's never to late to say that, because the pain never goes away. I wouldn't worry about having a child to grow up. That's a silly theory, in my view. Maturity is psychological, a stage of development. Children can (and do) have children. Propagation is a biological urge and has nothing to do with psychological maturity.
I think the greatest tragedy anyone can suffer is to not be loved. If it is not given to you at birth (yes, there are people who don't have parents, or the love of parents), it can be found elsewhere. Sometimes this requires reaching out, to someone, or something, who (that) needs love. And love may be returned. There is the image of a homeless person on the street (any street, anywhere in the world) who is sharing a wretched blanket with an unkempt dog. The homeless person loves the dog. The dog loves the homeless person. I don't know who reached out first. But each found love. Sometimes that's enough.