Hi Marissa and welcome to BP! Your story really hits home for me as it reminds me how I got started. I also had a townhouse that I lived in for a few years prior to renting it (Tamarac, FL).
I have to say that it is a little bit scary and sometimes hard to become unattached to a property that you not only lived in, but also but a lot of hard work into! And now to turn your baby over to someone who you don't know, it's scary!
The best advice I can give is to just do it, you'll be glad you did in due time. That's not to say you won't run into some speed bumps along the way, but you and your husband will figure it out! And you have the best resource in the world; The Bigger Pockets community!
But be tough on who you allow in your townhouse. Don't just accept someone because you may be stressed about renting the townhouse fast. Be methodical and meticulous with who you allow in your unit, it will save you many of headaches and thousands of dollars down the road, even if your not getting top market rent, there's value in a good quality tenant who takes care of your investment.
By the way I love the DELRAY area. My wife and I lived there for a while before settling down and starting a family in Bounton Beach. You shouldn't have any trouble renting it out especially if it's close to downtown Atlantic area.
Good luck and let us know how it worked out!