I joined Royal Arch relatively soon after being raised and I enjoyed it, but regretted joining so soon. I was still finding my feet in the Blue Lodge then all of a sudden I had this whole other area to learn. As a result I took a break from Royal Arch and recommitted to the Blue Lodge for a while. Fast forward a few years and I am now active in both Royal Arch and the Blue Lodge.
Timing is everything, from what I can see, you have waited a fair amount of time so I say go for it!