I love singing but have been told many times that my voice sucks, should I join my college choir?

I love music and I love singing. I was really good as a child but once
puberty hit i lost the ability to transition my voice from a high
pitch to a low pitch. But I would still sing for fun and have been
told by literally everyone around me -family, friends, colleagues-
that my voice suuucks! My friend who's a vocalist attempted to train
me and said I could sing in soprano and hit the notes exactly so I
know Im not tone deaf! Yay! I want to seriously consider training my
voice now, is it too late? Im 23 years old. Also I ll be in university
for the next 3 years and was wOndering if I should join the choir and
if I'd even be allowed in the choir with such a poor singing voice?