Cost to insulate my house?

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Also, the house is raised about a foot off of the ground, so insulating the bottom is out of the question.

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Is it shielded with panels? Those do help somewhat.

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I was thinking about getting spray foam in the walls

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unless I am missing something, this might be expensive.
the only way to get insulation into an existing wall is to either pull the sheet rock off or spray down from the attic, but it will go so far down, depending on where they put the fire breaks

I've seen them drill holes in the walls and shoot foam in there. My walls are all wood though (1940s house). The windows and doors do not leak at all

All original wood floors, except in the bathrooms

You have no insulation under house, this is the problem.
I have a raised home in Mandeville that I finished off and initially didn't have subfloor insulated..it was always freezing in house during winter regardless of how long we ran heater.
Insulated subfloor w/ closed cell insulation and haven't had any issues since, my only concern is moisture being trapped and rotting my floors...

I have an old pier and beam house with no insulation in the walls or underneath. I put insulation in the walls downstairs and it has had almost no effect. Most of the cold comes from underneath I believe. The thing I did that has had the most value is put a 2nd pane of glass in my windows. Kept the existing windows.....
here is a pic.....I used 1/4" wide rubber/ silicone strips I got in insulation section of home depot between the panes. Then caulked on the interior side of window. This has made a drastic difference in summer and winter. I can touch a window I did not do and it is very hot or cold and gets condensation in the winter. The double paned windows are always close to room temp to the touch. They also muffle outside noise quite a bit.

All of my windows, with the exception of the back sunroom and my bedroom are less than 5 years old and double pane. Those have intricate trim, and original glass. I'm not willing to take those apart and risk breaking the trim up because I definitely couldn't reproduce it, and it would even be hard for a finish carpenter to do. None are leaking or cloudy. One takes up most of a wall though. Probably 8x6. Others are floor to ceiling 24" windows

We looked into getting extra insulation added to a rent house in BR because the tenants (me and my roommates) couldn't keep it cool in the summer. It was really expensive since the house was already finished. So we just went to Home Depot and bought 3 window units and that solved the problem and electric bill went down because the central air never left 75.

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Well, I woke up this morning, and it was 58 in my house. Albeit, I didn't turn the heater on, but it dropped from 70 at around 2am to 58 at 9am. I have fiberglass insulation in the attic, but I guess it isn't doing much of anything because it got pretty cold in here.

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That really isn't worth the price or the hassle.

It's the floors bro, trust me...spending 1 yr in my house without the sub floor being insulated was misery during winter . Once we sprayed closed cell insulation underneath everything was fine.
IMO, I'd at least get a quote from one of the companies that does it.

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Well, I woke up this morning, and it was 58 in my house. Albeit, I didn't turn the heater on,

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Turn on the heater. Seriously, that doesn't seem bad for as cold as it was this morning, IF you weren't running a heater.

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closed cell underneath

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What happens if you have a slow water leak? It will pool at the site and rot your floor and you will not know it until it has been there a while.

Open cell spray foam insulation is always the way to go under roofs and under floors. Never use closed cell in horizontal applications. The R Value difference between the two types of insulations is negligible.