Learning Japanese - feel hopeless to learn around time constraints of work and leisure time

I`ve been living in Tokyo for 6 years, working as an engineer in an International Finance company speaking just English at work, mid 40s.

I know daily conversational basics (bar talk or introductory stuff), no formal qualification or JLPT and obviously have situations where I cant explain myself or understand someone (In Japanese of course) and this leads to some level of embarrassment, shame and frustration on my side.

My problem is between a busy demanding job, kids and spending my little time on hobbies and travel where and how to make time for studying, how best to study (App, private lesson, self study etc ) and also a question if it`s even possible for me to advance to a level that would make me comfortable living here in the long term to warrant making the sacrifices needed to find the time to study and improve to a decent level.

Covid also caused me to plateau due to hit on social life and that has never come back either, likely due to less confidence due to declining ability

Really like the lifestyle here, beautiful scenery, the peace and the higher / cheaper standard of living but the language frustration (part of my own causing off course) always makes me wonder about my long term future.

Given my age, and working a relatively demanding job do you think its still possible to learn the language and be self sufficient?

Thanks