Thank you Buba68! I did try and kill Astarion once and it didn't work, but I tried again after your suggestion and I got past the bug! I think the first time I tried killing Astarion I did not realize he had death ward cast on him, so when he came back to life with the exclamation point gone and I tried to sleep I must have thought the bug was still preventing me from leaving. This time I killed him, he came back to life (because of death ward), then I killed him a second time. After that I could leave camp. The really strange thing is that when the cutscene triggered and it progressed the story Astarion was alive! i did not need to go to Withers and resurrect him he was just alive again as soon as the cutscene ended.
I am so happy I can play BG3 again. I have been toying with other games while waiting to get past this, but I was just wishing I could get back to BG3 the entire time I was playing them.
