Orbi 960 Can someone give me a step by step on what to do to accomplish this

What the OP describes is not normal behavior for the Orbi.  Power cycling the Orbi router and/or satellites should still result in a working system.  My Orbi 9-series has never behaved as described and I do not need to re-sync my satellites after a power interruption.

If the problem is that the satellites cannot get a DHCP address after power interruption then we can start by investigating DHCP settings, reserved addresses for the satellites, etc.  Is the Orbi in router mode or in AP mode (the Ziply modem may be a router too: https://ziplyfiber.com/wifi-6).  If the Orbi is in router mode and the Ziply is also routing, then try removing Double NAT first.