I helped a student in a similar situation and found this program at The New School, which was a good fit for them for geographic reasons:
One thing that probably helped them is that they had about 2 years between the last bad semester and the time of application. They hadn’t done anything huge over the two years, but had regular work experience and had successfully taken some classes on a part-time basis at a community college, so a bit more of a track record showing that they were ready to try a more typical college experience again. Do you feel like you are in that kind of place yet, where you could demonstrate that you’ve matured and are better prepared?
As others have said, your goals are still possible for sure, but your mental health is a priority. Don’t put any pressure on yourself to fit a specific timeline.
Others will probably be able to address the grad school question, but take one step at a time.