On the other hand, I went as an undergrad to New Mexico Tech which was a very affordable but high quality school and made many friends there who had served in the military or been a single mom or drove a truck.
At a school like that with a lot of nontraditional students I think the teachers and administration would have some sense of your needs and also you would meet others who are in the same situation and who would be supportive.
If you want to test the waters, maybe try taking a class or two at a nearby community college first?