FYI getting a UROP might be a little hard. Not saying you shouldn't try but often there aren't that many spots. It will vary a lot depending on the school.
So you really have to do it as a transfer student. Applying straight to a 4 year school may require a certain GPA in HS, ACT/SAT and you will be in the pool with all the HS applications. Transfer student have a different pool, and most colleges reserved a certain number of spots for transfers.
So CC is definitely not like HS. Yes they teach some of the same classes, but that is just for people who didn't learn that subject in HS so you are prepared for college level courses. That is not most of CC, CC is mostly 100/200 level courses that are real college courses, many of my CC professors also taught at the local 3 year school. They used the exact same material they used at the 4 year school.
Honestly my CC courses were way better than the ones at the 4 year school. Learn more, it was easier to ask questions, etc. CC are different all over, but mine had 30 students per class. I had classes at the 4 year that had 200 students. There you got a lecture and we're just expected to keep up.
There are a lot more adult students now. Many schools have a specific office that is there just as a resource for adult students. There are scholarships for adults many are open to all ages. You are not too old for a scholarship, this is exactly the stuff that an advisor will walk you through.
CC advisors will see you before you are enrolled and will give you a much better understanding of what is the best path for you. To them your story is not new or something to be ashamed of. They see GED students every day and they can help steer you through the right order to take classes so you don't have difficulties you had before. They are a wealth of information. I left a lot on the table because I didn't understand the things they can help with until it was too late to take advantage. If I could go back I would have spent way more time in their office.
I know it feels like a big hurdle to deal with. I was right there with you. I had such a bad time in HS it took me 10 years before I was willing to try school again. I really didn't know if I could do it at first. But every year it gets easier to deal with.