Hi @Katelin M Barson! You will find a ton of great advice on this site and congrats on continuing your real estate journey.
With interest rates being where they are and inventory so low you're right properties are going way over list price, but that's not to say you can't find a good investment property, you'll just need a strong offer (not only price) to stand out above the rest.
How long have you been in your current home? House hacking a multifamily or another rent by the room like you are now is the best way to invest in an expensive market. Arvada and Westminster are great areas, I like Aurora also for rentals I wouldn't necessarily steer clear.
What are your goals? Cash flow or Equity? Denver is a great market to invest in, but it wont cash flow as well as some others. What you will get in the Denver market is appreciation and mortgage pay down that can be more valuable than monthly cashflow in another market.
Condos and townhomes can be good but a lot of times they have an HOA that eats into your profits.