i'm at duke and we're upper middle class too. its not that hard to pay for, you can still get aid even if your parents make a decent amount of money. i think we only pay like 10K a year or something (compared to the 50K tuition total), and my parents make over 100K a year. did you get your aid statement back yet? that should give you a good idea.
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http://www.youtube.com/watch?v=snA727obT58