Based on the assumption above that you’d take out a new loan of 155K, I don’t think it’s possible to keep the total payment around $950.
Your principal and interest alone on the new loan will be near $800 per month (assuming a rate of about 4.625% on a 30-year fixed.) If your property taxes are $3,000 per year, that’s $250 a month. I don’t know what your insurance would be, but let’s assume around $900 per year, or $75 per month.
You are looking at a total payment of $1,125 per month. Sounds like you’d easily qualify for that amount, but it may be higher than you are willing to pay.