When I first got Keela and we started in the show ring, she was very shy with the judges. Didn't like them touching her at all! I despaired of being able to show her due to how she was acting. Granted, she is a toy dog and is judged on the table, but being a Miniature Pinscher - they are not known for being still on the table! But still! I couldn't show her like that, sidestepping and pulling away from the judge.
So, lots and lots and lots and LOTS of practice out of the ring! First at home with family that she knew, then out in public. I had lots of her favorite treat, and everyone that approached got to feed her. We finally progressed to having them run their hands over her with her up on tables, counters, etc. We also did matches when I could find them. Always reinforced with treats. She know loves the table and the attention.
I say go for it! 4 years old isn't too old and the two of you will bond going through all this. Keela loves the ring even though she will always be rather standoffish with strangers. But she tolerates the judges exam and has taken a few reserves up against some really tough competition. And considering I am a total novice with absolutely no experience or access to handling classes - we have had a blast. Keela misses getting to go show since I had to have surgery. She gets so excited when I pull out her show gear or the grooming table.
You'll never know till you give it a try, and I say go for it!