What to do if I missed the 60 day time frame for 401k roll over after leaving employer?

I’m embarrassed to admit that it’s been 6 months since leaving my employer before even thinking about what to do with my 401k.

I’m neurodivergent and researching this on my own has been extremely difficult and exhausting.

Is it true that I can still roll it over to a Roth IRA and only owe 10% in taxes?

What’s my best course of action here?