Anecdote time: I was a late bloomer in math too. From about 6th to 10th grade, I was terrible at math. I think it was because of inapplication problems.
Yes, you get a word problem about Jack and Kwanzeeah trying to fill up a pail or something, it was nonsense to me. Why are they filling up a pail? Why are they using a bucket that is 173/9th's the size of the hose? Why do they have to not let it overflow? Why do I have to decipher this inanity, why can't they just ask me to do this stupid problem of stupid fractions? Why the cloak and dagger?
Then you get to 'real' algebra and you start to find roots of quadratic equations and other useless information. Dear Lord! When has anyone ever done this for any reason? Yes, something something eigenvalues something something computational modeling something runge-kutte. But for real though, quadratic equations are just nonsense gibberish to weed out the poor kids from the rich ones. Trig, yes, it's useful when you are building a shed that has to be totally perfect and crisp otherwise the rich white lady will not pay you. Geometry was a bit 'fun' actually, but in the same way that learning that Custer's Men took a poop at this road-side stop on the way to Little-Big Horn.
It wasn't until Chem in my 10th grade year that I actually 'got' algebra. We were doing moles to molarity calculations to get the solution to the right pH and make it all turn pink or something. It was then that I realized that all this mathy stuff was actually useful to me, that I could use it to make things easier and better for myself and my family. Like, I could 'know' what to do then. Before that it was just drill and kill and bad grades and shame. I remember staying after class and into the next one in the room, just sitting in the back doing these calculations over and over. I got kicked out for doing math! It was such a relief! I finally 'got it' when I needed it for something real to me personally.
For me, it was the issue of 'math' being this blunt-shame-thing that made no sense to use ever. But once I needed to use math, it was trivially easy. Learning math for each of us is individual, we each have our own motivations that are unique that need to be met. I know that is not easy to institutionalize, but if you want to do it, you have to find the 'correct motivation for each kid.