There are all kinds of voices in musical theater, and some of it's biggest stars weren't singers at all. You mention that you have acting training, so that's a great start.
If you want to sing on stage, the best advice is get a reputable voice teacher. Even the best singers take lessons, and everyone can improve.
I'd say that you have a good foundation, but could definitely be helped with some training, especially if you want to be able to sing powerfully and in tune.
Definitely audition for whatever you want as you're certainly good enough for that. The worst thing anyone can say is "no thanks"...then you go on to the next.
Best of luck!
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