Anyone on here decide to work straight out of University and then later pursue a graduate degree?

I graduated from university last spring and decided not to pursue grad school even though I had spent the last two and a half years working in one of my professor's lab. I even got a co-author on a paper that received a distinguished award.

I got a job a few months after graduating and am still there. It's pretty comfy but I don't feel at all challenged. I'm strongly considering applying for some programs for next school year but am unsure if it's too late for me?

Anyone have a similar experience and ended up going for it anyway?