With rook and pawn endgames maybe you do the same mistake I used to do, which is defending and letting it become equal, though when having the advantage many times the best way to keep it is by attacking even if it can feel unnatural at first. With that game I would have played 29 and 28 also f4. That’s like a basic idea you are missing. Try to remove all the opponent pawn moves and the enemy king is forced to go backwards, then you can go ahead with your king without letting the enemy king advance also. Think of it like opposition in those 1 pawn situations, where the enemy king cannot go forward, so they must move to a worse position.
Endgames- I suck, what to do?
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Check out my best underpromotion endgame compilation thread!
Maybe link it here? But underpromotion, as flashy as it looks and as rewarding as it is, doesn't occur in 99% of games. I'd still love to see it tho..