Start with BiggerPockets Ultimate Beginners Guide (free).

(Google UBIT or read Tom Wheelwright's book Tax-Free Wealth)Investing actively in real estate through an SDIRA voilates the self-dealing rule for IRAs.  

For most investors, to provide true separation would be cost prohibitive (between $10k-$15k). 

Start with BiggerPockets Ultimate Beginners Guide (free).

You'll likely also reduce your cost of living by moving to a stabilized apartment.Depending on the cashflow and debt paydown, you can use this strategy until you've built enough equity to reinvest.On the other hand, getting into a multi-family after refinancing will also help you build substantial equity to rinse and repeat in the coming years.

Be sure to check out the free tools BP provides to help analyze deals you may have and also market insights.

Do you have a total price range you're looking for, or maybe a cost/door?

. - WRT income, at a minimum it has to cover all of your costs plus some for unforeseeable expenses.  

It cost $38,000 for the framer to take on the risk and do the work - and that does not include the cost of the GC, or architect, or plumber that was also required!)  

Quote from @Patricia Steiner: There are several lenders who offer low/no closing cost options for first time homebuyers.