Also, get a lawyer to draw up the contract.

Should I simply get a lawyer to draft a contract and send them a copy to sign?

Maybe have to pay for the inspector and have the lawyers hash it out some.

I am currently working with a lawyer to acquire another three properties 14 hours away (drive).I use property managers.I trust the property managers and delegate complete management to them because given my personality, I know I will end up trying to micro-manage things and getting stressed out about what I see when I drive by the properties.

The typical team has Attornies/Lawyers, real estate Agents/Brokers, a CPA (or accountants you know and trust), Inspectors, Property Managers, General Contractors, and Handymen.There are several other main things you should do after you select a niche and property area market.  

I was wondering if there is a lawyer available that will help us solve this issue.

I used legal zoom to set mine up, then I paid a lawyer 1K to fix what they did.  

I have a standard purchase and sale agreement, assignment contract and have now typed up a termination agreement and I'm going to have my lawyer review all three to make sure that they are binding. 

Would I get a tax guy who specializes in real estate, tax lawyer?

Hire a real estate agent if you want hand-holding and paperwork, hire a lawyer if you just want the paperwork done correctly but with no hand-holding.