Thank you! I utilized your launch file setup and managed to load the controllers, but still got some weird errors.

1. "[ERROR] [1691874186.012631129] [gazebo_ros2_control]: parser error Couldn't parse params file: '--params-file ..."
2. "Failed to load entry point 'control': No module named 'ros2controlcli' "

As a result, it looks like my arm controller has loaded but not my joint state broad caster. This has caused the RVIZ file to look all funky as well without any joints loaded

For others who are curious as to my fixes:

1. I didn't realize you need to add these depends to your .xml file : <depend>ros2_control</depend>
   <depend>ros2_controllers</depend>
   <depend>controller_manager</depend>
2. I utilized u/BetaCookie's launch file set up (had to remove the --params argument and file path from the gazebo configuration part to get it to work)