Did we wait too long?

I just want someone to ease my mind. My bf and I have been dating for almost five years. We both live with our parents separately. We are 27 and 28 for reference. I’m having a panic attack because I keep thinking we’ve waited too long to move in together and that it’ll be a harder adjustment for us when we do. Can anyone offer some words that will ease my mind? Ik a lot of couples move in together during the honeymoon phase so it’s super exciting… we won’t really have that I think? I’m not even sure. Am I worrying for no reason?

Edit: thank you for the comments. You all made me feel so much better :)