Your rook looks misplaced to me. On e5, it controls almost no useful squares. White does have the advantage, but its mostly about better pawn structure.
Generally speaking, outposts are about knights. If you had a knight on that square, it would be a great outpost, exerting its power deap into enemy lines from a protected spot. By contrast, your rook is not exerting its power from that square as its too blocked in. Rooks do sometimes have an outpost situation, but when they are sitting on an open or semi open file, usually d or e, and taking the rook would lead to a dominant pawn center or, if on a wing file, where taking the rook would lead to an advanced past pawn. Here is a link to a rook outpost on the cfile, where taking would create an advanced past pawn https://www.chessgames.com/perl/chesscollection?cid=1011420
Grandmasters sometimes even offer an exchange sacrifice via a rook outpost, but that is an advanced move that I personally have never successfully pulled off.
Rook outpost
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I just ended up with a beautiful rook outpost. Can't even remember anything like that before. What do you think?