They should also have received a copy of the Renter's Insurance for the liability limits you set or the PMC suggests.

They also offer low documentation and no-income verification loans (based on cash flow and bank accounts, not on tax returns- perfect if you 'write down' your income or if you are self-employed.

Some material or book that helps me understand which arrangement does what for asset protection and taxes would be great. 

Does anyone know if  there are any tax-related problems for using Venmo?

But, you lose the split with broker, and the income is fully taxed including self-employment tax. 

And that's on top of the fixed expenses like taxes, insurance, water/sewer/garbage, etc. 

Don’t forget, that 40-60k less that the new property is worth will also be taxed.

Is there any way at all for me to get that $30k without paying penalty and/or tax ?

You are on the hook for taxes, insurance, liability claims, and the mortgage as an owner - none of that as the lender. 

Since he's 62 I know we can withdraw with no penalty, but is there a way to avoid taxes ?