As such, I am looking for references for a reputable company experienced in real estate IRA to roll a portion of my retirement account for use as liquid assets.

From my experience the basically the only two things that don't count as Parental Assets are most retirement accounts and cash value life insurance.

My original goal was to just have this property till retirement with the tenants paying the mortgage for me. 

In my area in NJ a single family house rented to one family usually does not cash flow.I am thinking about buying a house from 2 retired brothers who live in single family house: one brother lives on the top floor and has his kitchen, bathroom, 3 bedrooms, etc. and the second has similar setup on the bottom floor.

Not to mention how well the stock market has been doing lately: The S&P 500 surged 29% in 2019, its best return since 2013.In previous discussions on here, I've noticed that some people can be quite opposed to anything other than investing real estate (specifically the stock market, traditional retirement accounts, etc).

@Scott Kelly Here is one on markets and mitigating risk - https://www.biggerpockets.com/blog/property-investment-risk-retail-pricesOne on asset class - https://www.biggerpockets.com/blog/defining-asset-classholistic-approachOne on how strategies for RE growth - https://www.biggerpockets.com/blog/8-ways-supercharge-retirement-real-estate-investing

Cape Cod I imagine is a stable vacation rental market, so you wouldn't have a problem keep it rented out (assuming you do it correctly).

He's in his 70's now and is looking to retire...I got first look from an agent I have worked with in the past and periodically talk to now and again. 

@Prashant ShethMy goal is to have some cash flow, add to my retirement wealth, and really I would like to start building my portfolio and potentially get my children involved in real estate investing. 

It's a solid stable market that holds value and rent rates through downturn.