One thing about all of Princeton, Yale, Columbia, U.Penn, Stanford, and a few other schools (Harvard, MIT, Caltech, …) is that almost every student comes in with nearly all A’s in high school and not much else. You cannot all get nothing but A’s in university. As such getting a 3.6 or 3.8 (which I interpret as one or two B’s in five classes) is certainly not a surprise and is very common. Lower GPAs are probably also very common. In a similar vein you all come in being close to the top of your high school, but you will not all be in the top half of the class at these strong schools.
The first thing that jumps out in your post relates to what @TiggerDad said above. I have to wonder whether you are going to be any happier at any of “Yale, Columbia, Stanford, UPenn”. Any of these schools is going to be very competitive. There will be other students at any of them who see you as competition and who are determined to do better than you. There will be tough classes that move quickly and tons of homework at any of them.
I also think that it is going to be hard to transfer to any of these other schools unless you are able to clearly explain why they would be a better fit for you.
To me it seems likely that you either should find a way to fit into Princeton, or think very hard regarding what you want in a university.
Can you explain more about what you do not like about Princeton? Certainly highly ranked universities are not in general a good fit for all strong students.