I have been playing chess for a while, but I have never been able to bring my rooks out until the endgame. Do you have any tips on bringing your rook put earlier, or is that a good thing?

Usually, one of the earliest rook moves would be castling.

If you want a quicker rook development, try castling on the Queen's side.  This brings that rook closer to center.

The rooks become more effective as pawns are traded. Lines of attack open up on files where there are no longer pawns. This tends to be the case later in the game. Sometimes you can deliberately open lines of attack for your rooks by trading pawns.

Generally, minor pieces are developed before major pieces. The rooks tend to remain in the back rank for defence while controlling any open or semi-open files. Bringing them out too early puts them at risk for attack by minor pieces and pawns, as well as weakening your back rank.

1. a4, intending Ra3 and Re3...works every time lol

Try the Ruy Lopez.  It brings one of the rooks towards the middle file early in the main line.

Castling develops a rook. You must try to castle and clear the back rank completely in order to connect your rooks. Then, advance pawns and rip open files for you to post your rooks on.

I don't know how many times I did that the first time I played chess.

If you follow the example of white's opening line, you should have your rooks out earlier.

 So true!

It's usually best to leave the Rooks behind during the opening and early midgame. Of course, putting them on central files is a good idea, but not placing them in the center ranks. Rooks are more of an Endgame piece, though useful in some openings.