As someone from a lower-middle income family and having to rely on scholarships to attend school, I want to say that studying abroad or finding an internship abroad is possible. My best advice is to utilize your resources. There are so many scholarships out there, like the Gilman, that want to actually help students gain that international experience.
Talk to your advisors and do your research on scholarships. I literally got a list of organizations offering scholarships for going abroad and went down the list and applied for each one that was possible for me.