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The answer to your question is a big YES. YES God will accept you back when you are sorry for your disobedience, ask for forgiveness and repent. He is more than eager to give you an embracing welcome.
The voice telling you it's too late is that of the devil and PLEASE don't listen. It was God you disobeyed, it is God you should run back to for forgiveness and restoration. His arms are wide opened waiting for you, please run back into His embrace NOW. It's only a dead man that has no hope, there is hope for you in God through Christ Jesus.