Is getting into WUSTL still feasible if I have a 3.5 GPA as a sophomore?

I should be doing so much better, but I still haven’t overcome my study bad habits formed in middle school, and it’s crushing to see people I once considered peers doing so much better than I am. I just can’t make myself work as hard as everyone else, no matter how much I try. I’m doing better than freshman year, where without summer PE and chemistry(waste of time, credit-recovery course for upperclassmen who failed), I would have had a 3.3. I’m currently hovering at around 3.6-8, but I don’t know how permanent that is.
Outside of grades, my achievements are pretty lacklustre as well. I’ve done nothing to make myself stand out, though next year, I’m planning on becoming more involved in debate, auditioning again for mock trial, running for STUGO, and starting a model UN club.
I have all these plans and ambitions, but they’re all full of ifs and buts and I can’t shake the feeling that everything is all going to one day fall apart. Maybe this is coming off as attention-seeking. If so, I apologize, but I really had to get all that off my chest.

Don’t get too frustrated. You have time to get your grades up. Also, colleges like WUSTL don’t admit just because of GPA. They look at a wide range of stuff: GPA, course rigor, SAT/ACT, extracurriculars, honors/awards, essay strength, LoRs, etc. In most cases, you can’t really decide if a college is feasible unless you look at the aforementioned things colleges look for.