I am an Washingtonian and I got my license without DACA which was about 4 years ago and my sister got hers about an year ago.
Whatever is on their website is all you need. There isn't really an "appointment" necessary.

You can simply just walk-in and tell them that you want a driver's license for first time, they will tell you what you need to bring and you bring those, they'll set up appointments for tests and you'll get your license. and you will need to sign a paper called something like "declaration of SSN" or something which says that you are not providing SSN because you don't have one and if they find out that you do have an SSN, you'll be in trouble.

Anyways, Good Luck!!