How can I back to school (undergraduate) after working several years?

Right now, I'm in a weird position where I can't go to school affordably because of the obnoxious dependency / residency rules, but let's say I want to get an undergraduate degree in a couple years, when I will be considered independent and a resident of the state I live in. Additionally, let's make the assumption that I'm not interested in an online degree, my company will not pay me to go back to school (at least for some degree I'm interested in) and my family wont take me back in.

So I'd be a mid 20s professional with an ok job that disqualifies me from much aid, but not enough where I can just pay out of pocket instantaneously. While technically, part time out of pocket is possible, but because undergraduate degrees are designed for high school -> full time student, the scheduling is likely to be an issue and the time it would take to complete is probably not worth it. Going back full time, a degree could be completed in a timely manner, no idea how to afford it if not working, as most jobs that would fit that sort of schedule wont pay shit. Unfortunately in that case, I'm paying not only for school, but also essentials (rent, etc.)

So basically, Although I'm pretty well off rn, I might want to go back ot school in a few years, but completing it in a timely manner without pulling out near to six figures in private loans doesnt seem possible. Am I overlooking anything? Are there options I may not know about?