As my pr card expired in 2019 and due to some circumstances I am applying renewal now, can it be a issue for me?
So you are in Canada now? Did you get reported when you crossed teh border. When did you come back?
If you didn't get reported, you need to stay for 2 years (plus some buffer) and then apply to renew your PR after you meet your RO.
There is no concept of "applying late". PR card is used to travel back to Canada. Some people do not travel and do not need a valid PR card.
So apply (in Canada) when you meet RO if you were not reported.