Thinking about transferring to a higher ranked school before you even begin is not a good idea, imo. It will take time away from making friends, getting to know your profs, volunteering, internships etc. You will need these experiences not only for your own happiness, but also for medical school or any type of graduate program.
Transferring is hard. It is harder to make friends, gain leadership positions, relationships etc.
Penn State will provide you with an excellent education and will help set you up for whatever comes next..as long as you take advantage of opportunities. It’s on you, not the school.