Honestly, I went through a similar experience in my career around 30. I was mostly self taught and been writing code in academia where my peers were also self-taught scientists who were even worse programmers than I was. It was at my first interview at a real software company where I realized just how far behind the curve I was.
Fortunately I was in a position to take a break from work to focus on learning new skills. I built a few demo apps which were enough to land me a dev position at a small agency where there wasn't a concept of junior or senior devs, but where the others were better enough than me that I could learn quickly from them.
Now that you're in such a position you'll see that maybe you didn't learn as much as you could have in those 10 years, but just by spending years getting exposed to real software development issues you will be able to rapidly assimilate better practices.
Fortunately I was in a position to take a break from work to focus on learning new skills. I built a few demo apps which were enough to land me a dev position at a small agency where there wasn't a concept of junior or senior devs, but where the others were better enough than me that I could learn quickly from them.
Now that you're in such a position you'll see that maybe you didn't learn as much as you could have in those 10 years, but just by spending years getting exposed to real software development issues you will be able to rapidly assimilate better practices.