I forgot to update...
I ended up going with Quicken Loans. It is a real pain to buy/re-finance these days, but they were easy to work with. We'll be saving about $46,000 over the life of the new 20 year mortgage, and will pay it off in 16 years or less. It is about $320 per month cheaper than the old mortgage, so we'll put in an extra $350 into the principal each payment, and increase that more later. That will shorten the mortgage even more with additional savings.