I think we all feel you, my friend. Been there too. I don’t think you will need to wait until your 70s to experience all of it. The universe will find a way to make it happen.

I am grateful for meeting someone and feeling all the things that I never felt or had in my marriage. I am grateful that I am able to experience the small things you write about that bring so much joy: to hold hands, laugh with someone, cook together, and do things together. Couldn’t accomplish that with 21 years of a failed marriage that I get with a new relationship that’s devoid of a marriage and raising kids.
Hang in there and the very fact you can articulate what you yearn for is a good beginning.