Other than queening a pawn, endgames are essentially all about brining your pieces into contact with weak enemy pawns. Sometimes you have to create a weakness through threats (making their pawns advance which loosens squares / weakens pawns) or by pawn sacrifice (to damage their structure).
So look at the game through this lens. After move 30, when black anchors his a pawn with the knight, how many times does your rook or knight attack an undefended pawn? Also look at your structure, you have 4 isolated pawns, and notice how black's rook goes on tour attacking each of them.
We can start even earlier. Look at move 26. Black's knight ties your rook to the defense of the d pawn.
One idea is to play f4-f5, and whether black captures or you capture you'll split up black's pawns... white is losing in any case, but that's the right kind of idea.
Similarly I probably would have tried 25.Ra2 Nxd4 26.Rb2 because white wants to infiltrate into black's position and start "touching" pawns.
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This isn't enough to turn the game in your favor, but look how much nicer it is that (at least optically) your rook is tying the black rook to the f pawn. Your knight is in contact with the a pawn. This is the sort of thing you want in an endgame, and you have to work hard to find ways to do it.
Unfortunately in this particular endgame, 100% of your pawns were targets while black had a healthy structure plus an outside passed pawn (I'll count the two a pawns as one passer). So black should win, but those are some fundamental endgame ideas.
Here is a 960 game that I played (my opponent was obviously stronger than me).
(Don't laugh at the a4 pawn push at move 14; I'm not used to the bishop attacking a4, and apparently I even fought all the way back to a drawing position by move 21 (trade knights then take the a pawn would've been the proper way to continue) before making a fatal miscalculation on move 22.
The endgame is probably lost with proper play, though it does feel like I had several slip-ups that lowered my chances of saving the game. I wonder if there is any feedback on that part here. Advice on defending would be helpful, especially if I get to somewhat closer endgames.