It's never too late to try a game. I myself plan to try Forza 6 and 7, as well as Mario maker 2 eventhough all the fun in those games has been had and I'll be very late to the parties. ^^ Well better to get some experience now rather than just watching on youtube and finding some blame as to why I didn't play said games when I had the chance.
I don't know much what your friends are on about, but they are costing themselves. Pso2 isn't the best game, but like with any game you may like a few years or months (depending on how long you play) of good memories beats none at all. If they don't play oh well. if you want to, go right ahead.
It's up to what you want in the end. In my opinion, I'd say give it a try at least.