Can I get back in the army after having a "failure to adapt" chapter 11 RE-3?

When I was 17 I enlisted in the army for 11X, I was over weight and barely made tape to go to basic. I thought I knew everything and did very little to get ready physically or mentally. I had never been away from home before and about 6 weeks into OSUT I injured my ankle on a ruck march. I used that injury to get out, if I was motivated I could have pushed through it and finished. I was given an early separation discharge for failure to adapt. That was almost 4 years ago. I have always wanted to be in the military even when I was a little kid. I feel like if I was able to get back in the military I would be better mentally prepared, I have also been going to crossfit and I m trying to get in the best shape of my life so if I am able to get back in I won t have a problem with the physical aspect which was one of the hardest parts for me... Long story short I don t want to wake up in 30 years and regret not finishing this and serving my country. Is there anyway for me to get into military? (I will literally get into any branch/any MOS) I just don t want to keep going through life with that shame and regret. My recruiter told me it would be very hard and even then he s not sure I am able to get back in active duty army. I had spoken to a national guard and navy recruiter before and they said the same thing. Any info would be appreciated.