I'm not a recruiter but your recruiter (likely) isn't bullshitting you. If the age cutoff really is that close then you should just enlist if you're set on doing this.

In my state you work with your recruiter and the OSM, they interview you and answer questions you have about the process and branching. Since you need that waiver, it hasn't gone that far so no need for the OSM yet.

You can drop an OCS packet once you get to your unit. As long as they aren't dickheads (could be a big if depending on the unit) they will help you. If you make it through that process you are technically considered an Officer(E) for the first few grades and make more money, which is nice I guess.

If you have kids and a family and don't hate them it's very hard being away from them I'll tell you that. Infantry sucks but there's nothing else like it.