Yes - I work with folks who save their homes all the time. You need to request the modification paperwork (if you haven't already) immediately and get that sent in to see if you qualify. Also, you don't indicate if the foreclosure process has started or if the sheriff's sale has been held yet. Typically, the process in MN is:
1. you default on the loan
2. lender sends you notice for right to cure default
3. lender initiates foreclosure proceeding
4. sheriff's sale is set
5. sheriff's sale is held (typically you have up until right before the sale to reinstate your mortgage through repayment of the past due amounts)
6. once the sheriff's sale is held, you are in your redemption period, which is 6 months long in most cases in MN (there are a few instances that probably do not apply to you that it is longer/shorter). Redemption means that you must pay the whole loan in full to stop the proceeding through getting another loan or cash. This isn't to say that the lender wouldn't work with you, but they don't HAVE to at this point. You can live in the home, without making payments, until the end of the redemption period. You do NOT have to move out when the sheriff's sale is held - you still have 6 months left.
You also have the option of filing a Ch 13 bky. This is a way to make up the past due amounts on the home. If you are planning on filing a Ch 13, make sure that you do so BEFORE the sheriff's sale - otherwise the lender can object. However, to file a Ch 13, you must be able to start making the regular monthly mortgage payments on the month that the bky is filed (and cannot miss any while in the bky) and be able to pay down the past due amounts as well. A Ch 13 will not modify the terms of the mortgage.
Finally, you may want to see if your home is even worth saving - many homes are not. If your mortgage(s) balance are substantially higher than the TRUE value of the home (check out your tax statement for an idea), then you may want to consider saving your money, living in the home until the very end, and using those savings to find something new.
Good luck!