what i couldn't understand in hours of research i understood in a 4 minute video. Don't know if i should be happy or sad, but thank you for explaining it so well.
Two errors: Phase margin is in degrees, not dB and the difference you're looking for is along the X axis, not the Y axis. Other than that, this is really well explained!
The most important information that I came to find here was which transfer function are you looking at when you want to find the GM and PM? It definitely is not the closed loop TF. I remember reading that it is for the loop transfer function C(s)*G(s)