Is there a way to sincerely repent for sins I committed with a young man, knowing that the transgression did not reach the point of adultery, and that I perform my obligatory prayers, fast, complete the recitation of the Quran, and am dutiful to my parents?

Nothing can prevent repentance, no matter how great the sins. Allah forgives all sins, and His mercy encompasses all things. The one who repents is beloved by Allah. The most important thing is that the repentance be sincere (tawbah (definition) nasuh), with its three conditions: regret, immediate cessation of the disobedience, and a firm resolve not to return to it.