Charge offs, medical bills, collections, credit report

I have 2 charge off’s from Capital one and some medical bills in collection. The total is about 6,000 as listed on the credit report, and I would imagine it is several thousand higher with the interest that accrued since. My wife and I would like to settle and remove the items, we are just a little unsure about how to proceed. I have read much of your postings, and the steps seem quite logical as such. We have spoken to a local credit counseling agency, and they took the stand that none of these steps were feasible, and they only option we really had was to pay the debts in full; including all of the ridiculous interest that has accrued. My credit score is around 570 right now, and I would like to get it up into the 700’s in the next year or so, as we would like to get into a bigger house. Thanks for any help you can offer
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I am not sure which steps are not feasible. But I promise they all work in some cases.
I would negotiate.

If all else fails do pay them if possible.
It is best to get some relief if you pay in full with fees such as TOTAL REMOVAL.
Most people get a 35 cents on the dollar for settlements.

I would talk to the creditors. Creditors can help the counselors can not.