Does it get better after your twenties?

Does it get better after your twenties? I'm 22 and it's around this time that people I went to high school with are getting great jobs, getting engaged/married, etc. My best friend got engaged today, and meanwhile the highlight of my day was using the drive through successfully lol. I feel like I'm reaching my life milestones slower than others because of my stutter. So do things get better with age? I hope things will work out and I'll get more confident :/ Those of you who are older, are you generally happier than you used to be?