Yes! It's typically easier to start when you're little, but as long as you can control your fear and mental blocks, you should have no problem!

Yes meany people have started even older then you (though i'm making you sound old your 27 not 55 lol) just get started is my biggest advise i can give

I also think you should look at this website http://learnmoreparkour.com/

You can do it at any age

Of course!