Thanks for the help! I got it figured out!
The error I was seeing in XPSRegClient is "Read Trusted Hosts FAILED".
Support had me run XPSExplorer command and there were only 2 menu options (should be a lot of menu options). I also got an error saying "no policy objects found".
I re-installed the Policy Server to a new database and successfully ran
XPSRegClient siteminder -adminui-setup -vT
and was able to login as the siteminder account.