Seeking guidance for future

Hi everyone. I graduated with a degree in Mechatronics Engineering in 2023. Initially I enrolled for undergraduate (BEng), but in sophomore year, my uni signed a partnership with a UK university and we were told that we'd graduate with a dual degree (MEng). I signed up for it, paid an amount and that's it. No additional courses. No additional thesis. I just completed my regular undergraduate courses and received both BEng and MEng degrees. I guess this is because MEng in UK is typically 4 years. Anyway, my goal in the future is to go towards a research career path as a scientist. I dont really wanna get into teaching though. To get there, I obviously have to get a PhD and I truly am interested in it. I have solid hands on internships and Co ops in reputed companies, but no publications yet. I did do a research internship at an R&D center but it didn't result in a publication. So what would be my way towards getting a PhD? I can't apply for a direct PhD since I already have a masters degree. I m not qualified for a regular PhD since I have no publications at all. What's my best move forward? I was thinking to enroll in a MSc thesis based program to get the ball rolling. I'm worried it's very difficult to get accepted into a fully funded MSc. My background is in autonomous UAV systems, and research interests lie in autonomy, GNC, GPS denied navigation, and perception.

All kinds of suggestions are welcome . Thanks.