Will non-research but relevant extracurricular help me get into graduate school? I understand that joining a sports team or student council won’t matter at all for graduate school. However, what about internships in industry, competing in science/engineering competitions, or being a tutor that teaches high school kids math and science?

Additionally, what if you’re given an engineering internship, but it isn’t directly related to your desired research? For example, I’m interested in doing machine learning in graduate school, but I get an internship where I get to help in the development process of making apps from a relatively unknown company?

And also, I’m trying to aim for a top 25 research university, should I just maximize my time by just doing research? If I were to spend lots of time for an engineering competition, but I only reach the semi-finals, would that be a waste of time? Should I still add that to my application?

Sorry if I ask lots of questions. I tried searching all over the Internet, and I can't really find any answers. Thanks.
Yes. Participation in all types of scientific competitions is appreciated, even if not directly relevant to your research area. Even if you don't win them, participating in such events show inclination to scientific activities.

But if you know what you want to pursue in research, and you're able to do that early, it is definitely better than joining random scientific competitions and internships.