I would say Lancaster most likely. I live in and love york, but i don’t think it would check all of your boxes. Definitely not Harrisburg though

I have Medicaid and almost everything is covered. It’s a real life saver. I have therapy covered and I’ve also been to multiple specialists for various things. All covered. Find your local county assistance office and talk to someone there, they are normally pretty helpful. And when you get a gp it may take awhile for an appointment so urgent care is a good option (covered under Medicaid)