We fully missed the boat

So I think we definitely messed up with our puppy. We are very new to this and got our rescue puppy when she was around 4 months old. We didn't emphasize crate training enough early on because she would hang out with us in our living room and be okay sleeping in the crate at night. However as she became less fearful and more comfortable she started to want to just sleep on the sofas in the living room. This is where we messed up because we let her. Eventually she started jump off the back of the sofa and we let her wander in our downstairs space that was puppy proof. The issue is now she's gotten what she wanted and keeps jumping on and off the furniture. She's able to be left alone at home and will just relax on the sofas with a kong. We were wondering is it too late to crate train? We've been trying more for the past couple of days but she barks incessantly and never relaxes even with high value treats, her favorite toys. Wondering if anyone has dealt with missing the boat on crate training earlier and had to do it later in their journey with their puppy. We know we messed, but would appreciate any guidance.