Here are the high-poly renders:
Also went in and turned on Poly-Paint for baking material IDs.
Afterwards I changed the model hierarchy to meet the naming convention "_low and _high" that Substance Painter uses for more accurate baking.
This would probably drive a TA crazy, but this can be changed later and should make baking easier.
I did some test bakes in Painter and am still experiencing some bake errors, but for the most part I think it is working correctly.
The bake really softens a lot of the details, but I am mostly okay with this because I want to be able to control the added detail inside Painter and was afraid I would get a lot of noise in the normal map later on. Also, the reference photo I am using doesn't have the most damaged wood and steel.
Reference photo: