@Raheem Mills welcome to BP! Man, that's a great question that many people have encountered, as did my wife and me. Certainly a lot of considerations. A couple come to mind quickly.
First, can you afford to get into your next home and not use the money tied up in your duplex? You might have some financial housekeeping to do to be in that position, but it's not impossible.
Second, is your condo in marketable condition, does it have desirable specs, and is it in a desirable neighborhood? The kind of questions you'd be asking yourself if you were buying that condo to rent out. A reputable realtor should be able to help with these questions.
And third, are you prepared to be a landlord? There's a lot involved, but it's definitely doable. We found it extremely helpful to connect with someone locally (friend, neighbor, relative, co-worker, etc) who's gone down that path and learn from their experience.
My wife and I sold our first house years ago because we didn't think we were ready to be landlords. I've regretted it from day one, because it's definitely the kind of home I look for now as an investor.
Anyway, just some things to consider. Best of luck to you!
Chris