There is a quote that stuck in my mind and I don't know who coined it, but maybe it will help you.
"Suffer now, and live the rest of your life as a champion."
Maybe if you repeat it then will help you to focus and keep you reminded of the reward you are fighting for. It does for me sometimes.
Also, God isn't upset or bothered you haven't spent as much time with Him as maybe we should. There is always today to change that. Praying doesn't need to be ritualistic either. When you feel alone, try talking to Him out loud. Acting like He is there is the beginning of realizing He is always there. Asking for help specifically with little things, telling Him things you feel or stuff you realize, it can lead to a place where you become aware that He is responding and is helping. I ask Him to help me find things, and suddenly... I've found it. Misplaced things, tasks we have trouble with, feelings that are bothering us, all of it He loves to hear from us about. Include Him in everything and then we don't have to stop and make Him an "interruption" but rather a help and companion in all we do, our best friend.
As far as being lonely, I hope the previous suggestion will help with that. It is a very common situation that a lot of people are dealing with right now even with all of the connectivity and digital tools. Sometimes being reminded that there are a lot of people that would love to have a conversation with me and considering other people I know well helps me remember I have friends who I'm close to even if they are not with me and remembering things they've said makes me smile and helps. Laughing at something they've done, or recalling memories that are wholesome. Maybe even talk to God about them.
Please don't feel guilty. That isn't what Christ died for. He died to make us clean and guiltless. He would just be glad to hear from you today and to hear in depth all the things you are dealing with. The Father loves us like we would love our own children and far, far more.
God bless you and saying a prayer for you!