Whats the best way to clean up my credit?

I just checked my credit score, it is 568. I have several old debts that are delinquent as of 4-6 years ago. All in all I owe about $ 13,000 is credit cards, medical (ambulance ride that I never took), utilities, etc. Most of these debts have been charged off to collection agencies. I am also legally disabled due to a drunk driver so before you suggest paying these off right away keep in mind that I am on a fixed income. Now, I have heard that bad debt stays on your report for 7 years, so should I just wait?

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