I'm going to be very frank...don't take this as criticism.I'm currently single at the moment, also with zero debt.
Regarding Fidelity and Schwab, there is a Fidelity near my residence. Should I go there to open the IRA? As opposed to online? I just don't want to make any errors, while also getting some advise would help (though I am not sure at what cost.) I have to wait until mid January when that cd matures in order for me to start allocating my funds. Until then, I'll look to also read up on these suggestions as well.
It's clear you have no knowledge regarding investing. That's fine, but the first thing to do is educate yourself on the basics.
You've asked a somewhat specific question, and are getting fairly specific answers, but you need to understand the big picture before you do anything.
There is no rush. Start reading and learning.
I would start here: https://www.bogleheads.org/wiki/Bogleheads®_investing_start-up_kit