Like maybe I could pull enough out from heloc on primary residence to pay off debt and then rent out my primary and use the extra cash to payoff heloc and then do another heloc once the original one is paid off.

A little background about me, I have just over 200 doors in my current portfolio and our company manages just over 250 doors for third party investors in addition to those. 

You can always leverage rentals within their ability to service the debt. 

These are just some of the additional items that will have a significant impact on carrier's rates, your premiums, and whether we start to see the insurance market soften anytime soon or not.

One factor to consider is your interest rate on the debt.

There might be some hoops to get through with conventional financing with your income situation, but if that doesn't work, you could use a debt service loan.

I currently don’t have the financial ability to invest additional funds into it.

I wouldn't suggest you buy a single-family home to live in because the additional cost outweighs the benefits.

Quote from @Eamon Conheady: I was purchasing a multi family through an IRA LLC and was utilizing debt to finance it, requiring a non-recourse loan.

Also, here's an article with additional FAQs on cost segregation studies that you may find helpful.