I also went into my PhD after 30, although it was quite a few years ago. So the first part of your question is age, and in many ways, age is irrelevant, but in some surprising ways it's not. No one one will care when you did your PHd, and in many ways, mature students are better prepared for the type of 'unsupervised' work ethic that you need to succeed post masters. If you want an academic career, then age can have some hidden issues. For example, your papers will get referenced more the longer they are in print. Mature academics simply don't have the same amount of time to show that build up as academics that started younger. There also used to be special grants and positions for 'early career' academics, but many (not all) have dropped the max age requirements recently.

But maybe more important for you is the fact that you seem focused on applied research. You can 100% do that now with a masters and there are great career paths already open. If you are uncertain about the committment, it may not be the best choice. There is an old saying that you need to love your PhD topic at the start because you will hate it by the end.

One final qualifier though. 'Degree creep' means that many high end applied jobs are now asking for PhD simply because they know they can get it. I can't predict what the job market will look like in 10 years, but the number of candidates with PhDs looking for inductry work is certainly growing every year. Masters students may find themselves pushed down the workforce.