I regretted I didn't. I consistently find myself unable to have any meaningful conversations with anyone on anything outside of Computer Science (even then I am only comfortable discussing security and infrastructure; ask me about compiler I can tell you the basics and that's about it). Good teachers teaching LA can prepare you becoming more full-stack in life :) Good LA classes are usually more discussion-oriented (but I REALLY HATE WRITING PAPERS).
The key is getting a draft out, literally a raw simple draft of what you're gonna say, a week ahead of time. It's kind've like pseudo code. Then fill that in.
Then I'd hammer on my papers over the week. They'd start out raw and get better and better. I'd tweak. I'd find a better word. (Is this sounding familiar?) I'd work on it.
When I turned it in, I knew I was getting an A. I had two papers quoted in lecture. Hey wait, I wrote that! I don't think I ever got less than a B+, generally A's.
Writing isn't magic. It's work. In fact, what 'they' do isn't really that much different from what 'we' do.
But, anyway, it's never too late to start reading literature or history or whatever else really. I think I've read more stuff in the past few years than I ever did in school.
Why not read a few books and watch a few documentaries and start chiming in?
For those who disagree with the above advice, there are a couple of options that will make the obligatory humanities requirements beneficial to your professional career:
1) Technical writing courses, if available, or any course that requires you to analyze text and write essays that require logical structure and argumentation (which covers a lot of options). A key aspect of success in any technical field is the ability to quickly and clearly communicate ideas to others in writing.
2) Foreign language courses. Getting a bit of fluency in a foreign language that interests you can bring surprising opportunities.
Get all your reading done before class. Class is review.
If you have a paper due get a draft done a week ahead of time. Then you can hammer on it over the week.
Shop for TAs the first week. In a big lecture class, your TA will make the class.
Avoid bad teachers. I never didn't get into a class. But I dropped three classes the first week because I thought the lecturer was weak. There was something else better to take. I missed a class that was only taught once a year but the prof sucked. Nothing is worth that. There is another way, always.
If you're in STEM you'll have to take some LA classes for breadth. Make these count. These aren't classes you have to take. These are classes you get to take.
Hit the gym. A lot.