Time for my 2c: Points to consider: Don't give up low interest long term debt. Unless you can get very similar terms, I'd be wary about selling or refinancing, especially since you don't have PMI.
Have you researched what condo 2 would rent for? If you could have significant cash flow from that I would look into moving. Moving is work, but it's work that pays, with all the benefits of owner occupancy. I'd move again myself, but there aren't any houses better than mine out there.
So... if you can get cash flow, move and rent out condo 2. Buy your next property with investing in mind... a great deal... a fixer upper... a multi-unit with income (my 2000sqft 6bd house with an indoor climbing wall has the mortgage covered by the 1000sqft apartment in the basement).
I would also sit down and brainstorm with a mortgage broker who understands investing. Maybe he can get you great rates on a cash out refi (mine did). If he can't, then don't take the cash out. Remember, any cash you take out.... the cost of that money has to be covered by new property. If you take out cash, buy a property, and then both of them are cash flowing.... are they cash flowing more than if you had left the equity where it was?
I also second everyone's opinion on on working on your personal budget and making sure that you're making available the most money every month to reinvest. No, I would NOT agree with the idea of selling the performing asset to pay off debt and refinance your house.
It's been many years since I've worked a 9-5. Right now I'm working a 5-4 with 2 hours of commuting and just finished rent-reading 3 run down apartments.... getting the real estate machine rolling takes that added amount of hustle, at least for most of us.