I think a lot of this stuff is best learnt through experience and so i would talk to my children about it when it comes up, when it can be applied to something they are experiencing.
Children do, however, learn a lot through play and stories. You could try acting out scenes with puppets, or acting it out yourselves and then talk about the situation. You might be able to find some stories that are relevant to the situation.

I feel the same about wanting to teach my children aboug this stuff but they probably wont really appreciate it until they need it later.

I can’t say I know much about what you are going through.

It’s understandable to feel like you have missed out on an opportunity. But dwelling on that isn’t going to get you any closer to where you want to be. In fact it may hold you back.

Re-focus your thinking and tell us what you need to do to become the person you feel you are.