I'm in the same boat. I never learned to tie my shoes right until the end of the 6th grade.
I struggled in general with knot tying. I am an Eagle Scout, but achieving First Class was very hard for me due to all the stupid knots we needed to learn.
So at Scout camp, the lady worked one on one grilled me on knots all week long, including one knot that wasn't required for first class: the shoestring knot. The old "rabbit goes around the tree and down the hole" mnemonic did not work, so we divided it into parts.
I knew the square knot, and I knew the slip knot. A bow is essentially a square knot combined with two slipknots such that pulling either string will release it. Then tying a second square knot with the leftover loops ensures that it will not unfasten easily, commonly referred to as a "double knot."
That combined with low cut sneakers meant geting it loose enough that I could slide my shoe on and off without untying, but tight enough that I did not lose the shoe while running. Not so much for steel toe work boots, which I now endure retying every morning before work.
To make a long story short, I regurgitated all of the required knots to my scoutmaster on the following Tuesday evening (and to my mom proving I could now tie my shoes without her help), then promptly forgot everything.
Well almost. My occupational therapist at boarding school a couple years later was frustrated with a bungee cable secured to a wall mounted eye hook. The cable was extremely stretchy, ideal for strengthening exercises, and would loosen itself in short order when secured to the hook with a traditional hitch. I employed the rescue knot, a specialty knot designed so that it is virtually slip proof, and a loop formed by it can be used to safely hoist victims out of harms way. I figured if the rescue knot was "slip proof" then a very short loop would also work for the eye hook.
It did. She would later inform me that the single knot I tied in early September lasted the entire school year, never once budged despite kids incessantly pulling on it every day.
I was also a late bloomer with riding a bike and whistling among other things (early teens), and am still quite proficient in both. But this one takes the cake: I finally figured out how to pop bubblegum at age 31. No longer content with just being a chewer, I've been happily popping bubbles for 6 years now...