Almost any public facing org (food bank, animal shelter, homeless aid etc.) Will gladly take any volunteer. Check with your local library for local charaties too, they may even want help AT the library.

Not in my 30s, but didn’t really start until college really. Just draw. Over and over and every day. Something my first professors had us do was to draw the figure or still life in front of us in 5 minutes. Then 2 minutes, then 1, and we eventually got to 10 second drawings. The point was to not obsess over details when you start your draw. Start with that framework and build onto it. That single exercise helped me the most and got me way further ahead way faster than I anticipated.