Update - I bought and installed 2 new controllers from infinitoepartsdirect.com part #214934GA0A both fans would spin after kick starting by hand but wouldn't stay running. I didn't have an ammeter to test how many amps they were pulling, but figured something was wrong with the fans since they would spin on their own after kick starting and would stay running by physically pressing down on the edges of fan blades with my hand (wouldn't recommend lol)
Bought and installed Dorman Part # 620-740 from Summit Racing. This is the fan assembly that comes with 2 controllers already installed. Part is different from the 3.7 vs 5.6. Started the car cold with AC off and radiator fan started right away. Condenser fan turned on right away after turning on the AC. The only issue I have with this part is that the radiator fan is always on when the car is on whether the engine is hot or cold. Condenser fan only turns on when the AC is on, which is correct operation. I read some posts about this issue before that was fixed by installing a good quality oem controller. Eventually I may try to swap the controllers with the ones I bought from infinitoepartsdirect but for now I am just happy the car doesn't overheat at idle anymore. Apparently the fans were the issue all along.
Thank you everyone for the advice, hopefully this info can help someone else in the future.