Is my GPA cooking me?

Hey all! I'm a Junior at a public high school, and I cant help but feel like I'm way behind all of my peers (they're all academic beasts).

I have a 3.6 UW GPA (what I'm most worried about, I kind of flunked sophomore year) and a 5.0 weighted, and I'm currently ranked 30/596.

Im taking the March SAT and I'm pretty confident I'll get at least a 1400, my schedule is basically straight APs this year (minus AICE law) and it'll be the same next year. I'm taking engineering classes for DE as well, and I want to go into biomedical engineering. I'm not the strongest in math though, but I do take computer science (its also part of my research project) and I have a decent amount of experience with multiple CAD programs (Fusion360 certification and Rhino 8 experience).

My extracurriculars include speech and debate (I started doing well this year), a lotttt of community service (girl scouts, volunteering, etc.), a couple of out of school competitions (one of them being international). I used to do mock trial where we did pretty well nationally as well. I'm also taking ap research this year, and I'm working on a research project independently outside of class too. I also want to do an additional one next year (which is why I accelerated seminar and research 1 year early). I'm not too worried about my essay not being good (writing is my strongest point). I'm sure I'm missing stuff, but that's all of my main activities (I think).

I live in FL and I'm obviously looking at UF as a school I'd like to go to, but other top schools like Georgia tech and T20 schools in general.

My main concern and question is how badly my GPA will affect me, and if there's hope in raising it over the next 3 semesters. Should I lower my hopes from now (lol)?

Thanks a lot!