Minimum downpayment for SFH nonconventional loan?

[Kyle Myers]

We're looking at getting start with REI in a non owner-occupied SFH (DTI 27% and FICO 775+ for both my spouse and I). What's the lowest reasonable down payment we can expect to have to come up with on a conventional loan? Would this lead to a PMI included for the life of the loan? Is a conventional loan the even the best means of financing in this case? (more info: We don't have kids, have high job security, and don't have any healthcare costs...I don't know if a lender would even look at those things)