---actually resolved----
Sorry for spamming this thread everyone, even though I've really been the only person posting in it anyways.
I have found my fix. So I was never able to fully uninstall the Heimdall drivers so Odin wouldn't recognize my phone and would hang at "Initalization."
So I took a weird strategy and actually purposely soft bricked my phone. Scary to do but the outcome was well worth it. Here is what I did.
1.) Puropsely soft bricked phone
2.) Put it in to download mode
3.) Went to device manager
4.) Contrary from Heimdall Uninstall instructions phone will now show up under the general usb devices areas. Find this area, expand, and right click on Samsung Composite USB Device.
5.) Go through the options of manually picking the usb driver you want to use.
6.) Install chosen standard samsung USB driver. You may get many options in the list but pick the Digitally Certified one.
7.) I didnt unplug the phone after I flashed the new driver so open up Odin and flash your DI01 Stock Recovery with Atlas v2.2 PIT and Repartition checked.
8.) Once finished phone will be on DI09 fully bloated stock and should work with Odin for any further flashes.
*edit* It appears as if you need to flash the samsung driver to phone evrytime you want to flash something via Odin.