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So...let's say I'm a Monk initiating a grapple. If I was in a grapple, would I be able to initiate a trip from the grappled state?
Yes, you can take an action that doesn't require two-hands. A Monk doesn't require any hands to make a trip attempt.
Thing is, you need to spend a standard action to maintain the grapple, and that doesn't leave you much for tripping. Unless of course you have Greater Grapple so you can maintain as a move action.