I think you should reach out to admissions counselors at each of the schools you want to apply to. I would schedule a meeting with them, and send them a copy of your transcript and resume to review. They can then suggest a masters program or tell you to apply now and they will be relatively honest about your competitiveness. This will not only give you some insider-info to each of the schools, but also shows that you care!
My personal advice is if you can afford to apply, there is no harm in applying now. However, I would make sure that your LOR's are perfect AND that your explanation statement is used very strategically. Make sure your personal statement is not a retelling of the experience you have at various clinics, but be raw and human - show your personality.
I think you have a lot of characteristics that make you a unique applicant, so play on those. They won't be enough to "ignore" your GPA, but if you can get an interview, who knows what could happen! If I were you, I would expect to need to apply for a few cycles (and that is okay! If you are okay with it).
Also, I'm a first-time applicant - so take what I say lightly.