Joshua
Making some assumptions here, but here goes. You didnt say what kind of home you have, I will assume its a SFH. If you dont have any children (just two adults) and you are serious about investing, you will downsize and house hack a multi-unit.
You said the current home is not in your name so you will qualify for FHA on a new purchase of a multi unit, and the down payment will be minimal. I looked in your area and saw this 2 fam (3205 Preble St) @ 325k. Assuming 10% down, you will have ~30k leftover. You may need 10k to get the new house ready for rent. Rents are about 1100, which pays half the mortgage. Assuming you are both working, you should be able to continue saving.
You will still have cash in your pockets and you will have flexibility to try and rent the current home for additional cashflow, or simply sell outright and get more capital to add to your stash. Not to mention paying your parents back. Who knows, if they are as charitable as they seem they may even decide to loan some back to you for your next venture.
You didnt say what your long term goal is (holding vs flipping etc) but I think you have a good foundation to kick something off real soon.
Good luck and dont forget to come back and update us.