I am in Southern California so maybe I can help you.
You will need the pro-rate share of property taxes. Assuming the house you buy at 550K has no Mello-Roos, special assessments, etc., annual property taxes will be at least 5500 (1% of purchase price). You will need to come up with the pro-rata share of it at the time that you purchase the house. Taxes are paid in December and April for the property tax year (so this property tax year, taxes were paid in December 2012 and April 2013). December's payment covers July 1st to December 31st. April's payment covers January 1st to June 30th (runs on a July 1st to June 30th fiscal year). If you close in April, you'd be responsible for paying from the date you closed (let's say April 15th to June 30th).
Assuming there are special assessments, those can be another 3-5K (these special assessments/bonds pay for various county/city projects).
So, for property taxes alone, I would try to save at least 5K.
Home inspection is about 300-500.
Homeowner's insurance - that has to be paid one year in advance and you will have to provide proof of it before escrow will close. Since you're looking at a condo or townhome, you need to make sure you can get a policy with your company. I assume you have USAA and I think they cover it, just make sure they know the policy is for "walls in" [since the outer walls should be covered by the association.] Based upon the price of the property, I'd estimate that to be about $1200-1500 (a friend bought a 400K house and has USAA insurance and his insurance costs about $1400).
I also think one month of mortgage payments (or at least the interest) was due.
As I recall, he had to come up with about $10,000 for closing costs (this includes the $2500 earnest deposit which was applied to the escrow costs), which included the pro-rate payment of property taxes, his share of escrow fees, one month of mortgage (or at least the interest), etc. I think he ended up with a refund at the end of $1000-2000. Remember, escrow companies estimate high so they don't have to come back and ask you for money.