What should one do in their 20s to avoid regrets in their 30s and 40s?

Hmmm...  I'll take a shot.
1.  Don't go into debt.  In fact, make that a part of your plan for the rest of your life.
2.  Date.  Not for sex, but to see what you like in a partner.  Now is the time to explore how you relate to the opposite sex and how they relate to you.  As you get older, expectations will grow as people think more about marriage and children
3.  Have you thought about where you want to live?  Now is the time to move if you want to.  Think about it and look into it.
4.  Do you realize that simply because you are proficient in English, you could go to a foreign country and teach English?  You won't make a lot, but you could still do it. Be careful because there are scams, but that is out there.
5.  Ever thought about riding a bike across the country?  You won't get a better time.
Basically, this:  now is the time for bold strokes.  No one is relying on you - you don't have to make good money, you don't have to live in a good school district, blah-blah-blah.
If you screw up, it's OK.  You've got time to recover, and most likely parents who will pick you up from the bus station.  And you're still young enough that it's part of the territory.
And while you're doing something bold, get acquainted with the basic skills that you will need the rest of your life.  Relationships are the most important things in life; get some skillz.  Money will either manage you or you will manage it; get that part down.

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