If you only pray during emergencies and crises, it is not a moral failure but a starting point, because God meets people where they are, and that is a valid place to begin again.
Your relationship with God is allowed to grow and change across the different seasons of your life. The faith you had at seventeen was suited to who you were at seventeen. The one you're developing now is being influenced by who you are becoming, and that's exactly how it should work.
Most people who feel spiritually stuck lack a structured daily practice that creates regular, unhurried space for Scripture and prayer. A more consistent time with God would easily address this problem.