I think I got it working finally. I will have to draw out a diagram a bit later but I used this instruction diagram for a non-neutral setup:
The only difference is that power is coming into the aux companion box. The hot line (power from circuit breaker box) is attached to the neutral terminal of the companion switch along with a black traveler wire (which is probably called something else at this point but I call that entire romex the traveler cables). The black traveler goes to the line input of the inovelli. White traveler wire goes to the traveler input of the inovelli and the light/load goes to load on the inovelli. The rest of the neutrals are joined together in each of the boxes.
Photos are out of the question at this point due to marital orders. I will try to make a diagram with what I got on the comp soonish to better illustrate.