Son, because of issues (think rebellion against ultra-traditional Asian family) I can no longer speak to any member of my family, or see them ever again. My maternal grandfather, who for all my life has been my support and a calming influence, will die in the years to come without ever seeing me or the children I may have.
I understand how you feel, I think. You don't sound like a failure to me. You sound very much like a sincere guy who's had guilt and grief over all this. That alone says you have a heart worth carrying and a life worth living. Be proud at your grandfather's wake. I'm sure he's proud of you now too.