Generally an s-corp is the absolute worst vehicle for real estate investing.

That is not possible within IRS rules, other than by taking a (potentially taxable) distribution from the IRA.The questions I would suggest you ask are related to keeping the Roth IRA as a tax-sheltered vehicle.  

One should be  devoting his or her time building similar vehicles while competing with the masses in these competitive times.

Even if money weren't a concern, two companies will limit me in other ways such as what marketing would I choose to put on vehicles, introducing two companies to people I network with, etc. 

This would be a commercial note limited to 80% of the trade-in values of the vehicles and would be priced around WSJP + 2.50% with a 1% origination fee of the loan amount.

My plan involved using the 150k to pay off my current loan and the remainder of a vehicle loan which would reduce my monthly bills by 350$ but the 150k loan would have to have a term of 30 years.

If you are running to the hardware store on a very frequent basis, or using your vehicle to haul significant amounts of materials, the IRS could question your level of involvement and whether you are providing services to the IRA.

I am using real estate as a vehicle to reach my goal of financial freedom.

First I went and got the Mercedes CLS550 with the custom 20" Lexani wheels, then I later traded up to the Maserati Quattroporte (which is a beast of a vehicle by the way).  

I believe I have pinpointed my biggest financial weakness as my vehicle.