You can clear the title by doing a Quiet Title action using an attorney or hunting down the previous owners and getting Quit Claim deeds from them and a release on any old mortgages.

Also i set my initial rent price too high and it sat vacant for around a month and a half.

This is a low-end rental and a low-income (but good) tenant.I tried to call her about a a minor issue several months ago, and have not heard back since.

Do you have an attorney, a banker, an accountant and a realtor who understands investors?

Ultimately, you don't know what you don't know and a broker can help eliminate some of those "I didn't know" moments that are eventual for a new agent.

Early on, all cashflow went to the business to continue building and buying more... now it goes to medical bills and a stupidTooExpensive primary home... in a couple of years it will go into more investments.

She is on bigger pockets and a pro member. 

I have many properties and a solid position with a 401K in the stock market.

There's also a lot of potential appreciation on the horizon: the city is supposed be building a greenway on the block, there are a lot of construction projects in the neighborhood and a lot of new, high-end condos have recently completed construction a few blocks away.

Of course this has to be serious and with solid proof and a judge probably still won't allow unless its more life threatening, If they do not have a lease, then move forward by giving them a 30 days notice to quit ( a full month term) as you are not renewing because you have that relative that is going to move in.