We did set up an rc.local file that worked. We have not rebooted until today. Please see contents of rc.local below. I simply did an init 6 to reboot. The system displayed "A stop job is running for /etc/rc.d/rc.local Compatibility (9 min 9s / no limit). Thoughts? I don't think the system ever rebooted and we had to hard boot it.
# cat rc.local
# THIS FILE IS ADDED FOR COMPATIBILITY PURPOSES
# It is highly advisable to create own systemd services or udev rules
# to run scripts during boot instead of using this file.
# In contrast to previous versions due to parallel execution during boot
# this script will NOT be run after all other services.
# Please note that you must run 'chmod +x /etc/rc.d/rc.local' to ensure
# that this script will be executed during boot.
exec /usr/pxpiosvr/pxpiosvr -f /usr/pxpiosvr/pxpiosvr.conf -p 20222 &