@summerof42 I do not live in or near Rochester MN. I actually live on the east side of Wisconsin. I just googled “churches in Rochester MN” and found this link.
https://www.churchfinder.com/churches/mn/rochester
This gave a list of the denominations. I then googled the specific church for their website. I just thought I would try one for guidance. I choose a Catholic Church as I am a Catholic.
https://holyspiritrochester.org/
In this example they have a listing for ministries. I found two possibilities. But once you decide from the list of churches, going to their website will give you a phone number to call or an individual to contact. You can call the office and explain your situation and what you are looking for. If they can’t help you I would ask if they know of any organization or service that could help.

If I was in your shoes, this is how I would start. Start by looking for the faith that you are. Or if you have no faith I see the also have non-demoninational..

If you are staying at a hotel in Rochester the front desk is very helpful with shuttles. Most hotels have a free shuttle. They have a regular scheduled times for pickup. So the front desk can help you determine which one you need to take to take you to the clinic.

I would check out the campus map at the following link to get the “lay of the land”.
https://www.mayoclinic.org/patient-visitor-guide/minnesota/campus-buildings-maps
It may look intimidating and overwhelming, but it’s not. Their signage is very clear. Also, you will see volunteers in blue vests and even Mayo employees within in the clinic do not be afraid to ask for help. I have even had a volunteer ask me if they could help me after I got off the elevator. Absolutely everyone is so helpful, compassionate and friendly. From the volunteers to all Mayo employees you are treated exactly like their statement states “the needs of the patient comes first”.

Here are two YouTube videos showing what you will see when you enter the clinic. These maybe helpful. It is always nice to “see” what you will encounter before getting there.

I hope I have been of some help to you. I wish you much success in finding answers to your needs.