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It's definitely not too late; children who have begun even in 9th or 10th grade in our Waldorf school have really loved it.

Things to watch out for: she might be a little challenged by the level of the artistic presentation of learned material, which plays a big role up to 8th grade, the foreign languages, and/or playing in band or orchestra, but if she already plays or is willing to learn an instrument and likes drawing she'll have no big problems anywhere. Some schools might ask her to do some catch up work in the languages if these are new to her, and even if they don't ask it might be just as well to give her some help with these.

Our children began in 1st grade and kindergarten, respectively, but good friends sent their home-schooled children in 7th and 2nd grade; the 7th-grader took to it like a duck to water.

Good luck!