Found the real problem
Johnathan with Atlas came out for what I thought would be quoting us to add piers and lift our house. Rather than just comparing our house to a typical lift, he investigated the footings, posts, and damage patterns. It turns out that we don't need to lift our foundation, but rather to replace 2 posts that were installed incorrectly.
He told me we don't need his company at all, and recommended 2 companies that could perform the work we needed. I would likely have agreed to a lift and still had the real problem if he hadnt identified it for us. We probably saved 4-5 thousand dollars. Thanks Johnathan and Atlas!