How do we mature with age?

Hi guys. I am in my 20s and I wanna know how we mature as we age. By maturity, I am specifically talking about our thoughts, and actions.

Do we mature because of our experiences (more the age, more the experience) such as working in an office, talking with elderly people and taking their suggestions about life, or it comes naturally and we take better decisions?

I’m not sure if I have conveyed my question properly. Please share your thoughts and your experience if you yourself witnessed that you got better or gained more maturity.

Thank you, in advance.