I also dont subscribe to the less debt is better for a number of reasons. If a bank is willing to give you thousands of dollars to pay off over years at an APR under 5% while someone else pays it for you, and you can use that capital to purchase or finance more investments which will bring you a better return than 5% its a win. That's not counting the tax benefits. You should be able to make a yearly profit and not be paying much in the way of taxes if done correctly. Intelligent use of leveraged buying will grow your portfolio better than most other options.
I agree with selling your home just for the capital gains exemption. House hacking is the single best way to make money early on IMO and I wish I had done it years ago.
Don't fear debt. Fear high APR, unreasonable terms or a number of other options, but cash is king and taking cash out of a home while staying cash flow positive is always my first advice. If you're truly worried about the length of payoff or interest rate try a 15yr, and you dont a high mortgage amount, but at a principle amount that works for you.
Once you're out of the primary residence and seeking a rental. I will always advise buying a multi-plex (du/tri) and renting the other units. Better APR for the loan as its a primary residence and once you move out it will cash flow better. If you sell it no capital gains. It's the best hack out there for newbies.
You're in great shape. Sit down, do the math and explore your options!!