My wife of 20 yrs is currently pregnant with our first child and I want to get us out of debt and build our savings.

You could do 5% down Fannie Mae program and quitclaim into LLC but the debt with still report to personal credit.DSCR is the way to go.

Most lenders will also look at debt coverage ratio which limits leverage at this time due to higher interest rates.

If it was your debt, its probably your's to pay off.Title insurance has two variants. 

That’s why I alway recommend Jimmy Napier’s “invest in debt” book.  

Financed by securing debt on a different asset in our portfolio where we could get the best terms given the rising rate environment.

I am in New York City , I use the car for my rideshare business , I have no problem personally guaranteeing the car, I’m just looking to get it off my personal name so I can improve my debt to income ratio on my personal side .

I have no debt, a good stable job making about $60k+ gross, and $20k saved up with about $10k in my 401k that I'm thinking about using some if not all of it towards the closing costs of the home I want to buy.

Without knowing your age, I like the idea of pushing additional savings into good, no load index funds (I like Vanguard's S&P index but there are plenty of others) through a Roth if you're young enough, leave the rental portfolio as is and pay the debt down to nothing, since you're not inclined to really work at growing that end of it. 

What sort of debt does it have.