Ok so I was the same way (same age-ish, actually slightly older, possibly blessed with good genetics, possibly not, my uncle's on my mom's side are all lean alcoholics and my dad was a stress eating obese person). Now I'm 40+/-2, in the best shape of my life, about 3-4 months away from a six pack (ab definition is getting nice and I'm losing body fat, rapidly).
What worked for me was the atomic habits trick. Don't be afraid for it to take years to get to where you want. Make it so easy to work out you don't not do it.
Home gym (one set of adjust dumbbells, standalone pull-up bar, a few leg weights, workout bench), workout equipment in the living room. It's all compact stuff so moving it/hiding it for when I have guests is easy.
Find a personal trainer and subscribe to whatever they suggest for a few months, then cancel (it's easy if they're actually shitty people, which mine was) then just keep doing that workout. You don't have to start with the full prescribed workout, just do what you can with the goal of getting further along, later.
Work out at least every other day (5 days a week is better), start with 15 minutes, then get to 30. Eventually you'll find yourself not minding doing 1h. If you do more than 1h you're probably doing something wrong. Don't kill yourself over missing a day, a week, or a month. Just recommit to it afterwards.
I often project YouTube on the wall while working out, as incentive, plus I tend to watch knowledge building shit while exercising (MIT Qmech lectures, mathologers, Ukraine war analysis - like perun).
Time: I used to do it very late at night, because that was the only time I remembered to do it. That's ok. Whatever gets you exercising. Now, however, I've committed to do it during the 6-7-ish timeframe and have been consistent with that. But judging from your post: I think it's important to do "whatever gives you no excuse to not do it".
Not commuting to/from work helps tremendously.
And that's it. I've recently started experimenting with t-boosting herbs (like ginseng, tongkat ali) and it could be placebo but it makes me feel better and I think it's burning fat quicker and increasing libido -- unfortunately having to think about that is a real thing for men starting in their mid 30s