> I have been here for over half a decade now with some success. However, I now feel woefully under-experienced compared to my peers and sorely need mentorship.

It would be best to first understand why this is bothering you. You've been there for 5+ years already so I guess if you weren't good, you wouldn't make it that long.

- Are you having problems talking with other engineers because they look down on you? Is it a recent thing?

- Or are you burned out by the current company/type of work? (normal after so many years)

- Or are you afraid you'll be unable to find a new job if the company lets you go?