I'm applying to social psych programs, not clinical (but also super competitive) so I can't really speak to that.
However, I can say that when I was looking at programs and talking with professors, most of them mentioned that they evaluate your application based on your most recent grades. I'm sure some don't but I think many understand that some of us were unfocused or whatever in undergrad but as long there's evidence that we got it together, the application is worth considering fairly. You have great research experience and a lot of other excellent things going for you so I would doubt your undergrad GPA would keep you out (of course I don't know for sure).
I'm in a similar situation. I didn't take my first undergrad seriously (in a different field) and my GPA is low. However, I went back for a second bachelor's in psych and have a 4.0. I'm hoping I won't be judged based on my poor performance 10 years ago when my most recent work clearly demonstrates I got it together. I don't know how it will go down but the way I'm choosing to look at it is that if a program rejects me solely based on my low GPA in college round 1, then I probably don't want to go there.
Anyway, I think you should stay hopeful. Good luck!