Am I understanding correctly that my situation means I should apply to RAP right when available?

Reading up on RAP, it actually seems to be a lot better for me than SAVE right now which is accruing interest, so I wasn’t sure if I’m understanding it right cause I assumed all the plans would be pretty worse?

I have 22,000 dollars left in school loans from like 2012, and average interest is like 75-100 a month (4-5%). My gross income is only. 38,000 with two dependents, and all the calculators keep putting me at only like 10 bucks a month, and then the plan covering interest monthly so it doesn’t balloon. So if I only pay 10 bucks a month, they’re legit gonna just cover remaining interest so my balance doesn’t go up during the year?…

To where I can just only pay the 10 a month and then drop large lump sums during tax season, without my interest ever having grown throughout the year?