Aquire PMI in haste, repent at leisure.
IIRC, in my state, all those pesky costs and fees get folded into the package, and then the DP is calculated. Some will smartly say it's better not to fold them into the loan, but if it helps you avoid PMI, you're probably miles ahead. Posting to say you have better deal opportunities in the winter, when there is far less competition. I vote for talking with your lender to get a better understanding of the process and save what little else you may (or may not) need first.
Full disclosure because I've posted this elsewhere. I felt the same way you did. Wanted to keep a bunch of cash reserves when I bought my first house. Was told it was "no problem" to only put 10% down. I did so, not really understanding PMI. I'm FIRE now because I started down the RE path, but I did not like having PMI, Sam I am, even though it was much cheaper way back when. It does not protect you, it doesn't really even protect the lender. As you progress through the home buying process, you will discover there are many devices designed to separate you from your money that you "must do"* to get your loan. Don't let PMI be one of them.
Example: Sold a house with a tile roof. Roof inspector found some cracked tiles. DH fixed them, but was pretty suspicious that the inspector had stepped on the roof improperly, causing the cracks because they weren't there before the roof inspection. Was that good enough? No! We had to pay the same company to re-inspect our work before they would sign off on the report. Fucking racket. Second time, DH was there and made sure no more tiles got cracked. And doing ourselves cost us $0 OOP vs. their $350 estimate, so I guess we still came out "ahead". Gah!
And don't get me started on home inspections and pre-paid home warranties. They are far less helpful than they want you to believe. Even hiring your own inspector doesn't offer full protection, but it's better than going with an unknown firm.