Hey there, 23 here, recently graduated with 20k in student loans, so I'm not too far in front of you
And I live just a bit outside NYC, so I know how expensive life can get.
A lot of people have been saying figure out what you want to do. While I agree and believe future planning is important, don't get too tied down to ideas that may not work out. I graduated with a BS having studied both Business Management and Classics and had planned on getting into Human Resources after I graduated. I ended up quitting my first job (not HR related), finding a new job (again, not HR related) in a private equity firm, and am now considering going into legal/compliance, simply because the opportunity is there (and I enjoy it!).
When I was in college, I got so bogged down mapping out ever detail of my life after graduating. It totally stressed me out and was too overwhelming. Plan, but be prepared for things to go not as expected. They probably won't.
As for grad school - look into Grad Assist programs. Many colleges will offer things like covered room and board, a stipend, and part or all of tuition if you assist in your department some how. Might be student teaching or research, depending on what's up your alley and what the school needs. I personally looked into Residential Life grad assists (non academic related), but I also spent 7 out of 8 semesters on my res life staff during undergrad.
My point is, don't stress now. Enjoy your college days, because you'll miss them. The fact that you're worried about your future shows that you're at least somewhat prepared. The most important thing is to be able to take things as they come.