How do I handle an 11 year old shoplifting case?

Question Details:

I was arrested a few weeks ago for an old warrant I was unaware of. It is for shoplifting under $500 in MD. I can't afford an attorney. I just started working. Of course I make too much for a public defender. What is the best way to handle it? I know their are no witnesses and the officer who filed is no longer with the police department. Should I request a jury trial? How do I defend myself? I am lost.

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