As one that considered myself totally non-musical for years I can say YES Where there is a will there is a way. I'm at the point where I can almost carry a tune and follow the beat. Compared from where I came it light years improvement. So, I'm not swallowing my pride and trying to sing out whenever I can!!! Hopefully, it's not too painful for the audience :-)

So find a teacher and GO FOR IT.

JAB