How can I start out doing undercover work for a police department instead of doing uniformed patrol first? Is this even possible? I would like to work for the DEA but if I could do mostly undercover work for a PD then I would be satisfied with that.

Basically, you have to be the right person, and you have to get hired by a department that permits this. It is possible, but usually you have to work patrol first.

Your chances of getting to start out in an undercover role are slim. It isn't impossible though. If the department needs someone at the time, and you seem to be a good fit, you might get lucky. Undercover police work can be tough. Not everyone can do it.