Are long term goal is for it to allow my husband to "retire" out of the military and not need to pick up a second career.

You cannot use any asset of your IRA/Roth IRA as collateral for a personal loan, nor can you use any equity in those IRA-owned properties for personal investment.What you may be able to do is refinance those properties within the IRA via non-recourse loans, and then use the cash out to purchase additional investment properties within your retirement account, to grow your retirement portfolio.Otherwise, it's hands-off those properties.

I retired at age 50 with a comfortable income.  

I make decent money to support myself and my parents, but my long-term goal is be financially free, not have to work for someone else, and retire early, all so I can focus on my family and community and leave behind a legacy.

The seller is a Senior Citizen and wants to retire .3.

You just need to find a tired landlord, who wants to retire.

So we'll be selling this one when we retire and it will be my one and only condo purchase.  

NA Martin Congrats on your soon-to-be retirement! 

I imagine that might be a big problem.3) We have $200k, but it is nearly all wrapped up in retirement accounts.

My real estate goals are to help my retirement and/or stop sweating for a living and maybe get some time off every once in a while.