Oh, good heavens, no, it's not too late! It is only just getting late enough in the season that you can put your seeds right outside in our zone! Here's what I'd suggest based on where I live (zone 4B) - I assume it would be pretty similar to where you are:
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tomato - you'll need plants
carrots - seed now
basil - seed, but wait til your last frost date - it's too early now
peas - seed now
pole beans - seed, but wait til your last frost date - it's too early now
lettuce - seed now
potatoes - seed now
cauliflower - plants, or seed in early June for a fall crop
broccoli - plants, or seed in June for a fall cropÂ
spinach - seed now
parsley - seed now
green pepper - plants
dill - seed now
beets - seed now
watermelon - seed, but wait til your last frost date - it's too early now
garlic - plant in fall for next year
red pepper - plants
pumpkin - seed, but wait til your last frost date - it's too early now
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And you know, even if you really want to do all plants and therefore can't afford to fill the space, I'd still do the long skinny beds and just fill as much as I could afford, then plant a cover crop by seed so your good garden soil in the part you couldn't plant doesn't erode away. Wheat or rye are very easy to turn into the soil the next season, and they look nice.