I was the same way for a few years. I don’t know exactly was the “fix”, but this is what I’ve stated doing to help me go to bed:

• Podcast: I found listening to a podcast made a huge difference for me. It has to be one that’s interesting enough to pay attention to, but not one that is too interesting you have to listen to every second of it. That way I can lay in bed and not be bored, but also not care if I miss anything. My go-to is the LTT podcast; Dungeons & Daddies is also good, but I want to pay attention more so it doesn’t work as well. Also use an app with a configurable sleep timer. Eventually you’ll figure out approx how long it takes for you to fall asleep based on if you miss anything vs getting up to restart the timer.
• Bedtime Routine: A routine helps tell your body it’s time for bed. Bedtime tea, washroom, brush teeth, shower, then climb into bed.
• No Games before Bed: When it’s close to bedtime, I stop playing games and switch to watching videos. Less brain effort.
• Dim Lights at Night: Might be a bit too much effort, but I’ve setup all my lights to dim starting at 11pm. Bedroom dims all the way down to min brightness.
• Caffeine: No coffee after 5, ideally not after 3
• Cool Temps at Night: If you can, lower your house temps by a few degrees before bed and overnight too

I hope this helps!