Solved!
Nvm, I figured it out after reading the wiki for the 15th time. You need to disable hotkeys in the autoconf.cfg file first and then edit the mupen64plus.cfg to enable whatever you want to exit the emulator. As stated above I use Z Trigger + Start button to exit back out. It works perfectly and you do not sacrifice any buttons.
/opt/retropie/configs/all/autoconf.cfg
mupen64plus_hotkeys enable hotkey auto configuration (0)
then go in and edit
/opt/retropie/configs/n64/mupen64plus.cfg
and set your control to the way you want it to exit out of game. I programmed mine for Z trigger and Start hit together