Ideally, I would love to buy a multi-family property and rent it out, I would consider house hacking but I mainly want to my first property to be one that I can improve on and have it generate income for me.

your loan officer is nuts.you can have multiple lots/parcels on one deed..

We are already surrounded on three sides by urban zoned homes.My neighbors and I have been approached by two individuals, one is a neighbor who is a real estate agent, and the other one a friend of a neighbor, who works with a real estate attorney; both individuals asked us to join them in working with the 5-6 developers they have approached.

Depending on how much liquid cash you have, you could also invest too on the side if you are looking to scale rather quickly. 

I see a lot of posts on Bigger Pockets asking if I should refinance because my closing costs are XYZ.

Im in Ohio and in Wisconsin I was curious on how was the process for  investors who has had to utilize a company or just how the overall process went. 

welcome @Cam Caraher and congrats on joining BP, this place is the start for many, sure was for me longer ago than I care to admit.I'm not personally in your market, although was born in dorchester and grew up in NH, but this is a great place to meet locals.If you have not already a great starting point is the Meetups posted here, just search for your area and see if any meetups are happening. 

I signed a voucher for a home on November 7th and it was turned in on November 8th.

Not sure if you were looking for a long-term hold on a two family, but it seems that was not playing out favorably for you. 

on market deals in general will not be distressed enough.2. a good BRRRR isn't going to cash flow.so - are you looking at off market deals?