Is it too late to ask the faculty for a summer research internship position?

No, it's not too late to ask. But whether it is too late to get one depends on the local situation and so we can't help with that.

So, ask. If you don't ask you won't get one.

There is a Chinese proverb: The best time to plant a tree is twenty years ago. The second best time is right now.

General answer: it is never too late to ask for anything, nor there is almost no downside to asking. So go ahead and ask around.

Even better news: some summer internship programs are moving online and bumping up number of participants.

More good news: Summer programs (like the one Caltech runs) are structured, so they have deadlines, but if you are in a position where you can work for free, you can always (year-around) inquire about possible volunteering opportunity for specific labs. Even better then to reach out to professors who's work is interesting to you