The term "too late" really only means two different things for an MMO.
If you're one of those hyper-competitive people who has to be "the first" or on the bleeding edge of progression, then sure... it's always too late. If you're a normal player, some MMO's can suffer from having required group content that is level based, and not having people in the right level range to do it. So, you end up hitting a point where you can't solo further, but nobody is still doing that content as they're all on newer stuff.
I don't think this game suffers from that issue, since things are tiered by difficulty. It's possible to start out brand new and not feel like you can do the urgent quests right away, but even there... I'm pretty sure they'll rotate them all back in eventually. The current one is "Luther" for NA, and while it's off the schedule for the next couple weeks, we know the game will be on the PC soon, and it would be silly for them NOT to rotate it back in again. So even the time limited content is probably something you won't be "too late" for.