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So, I finally figured out a way to do this. In case anyone else needs to accomplish this here is how.
Essentially you add the approver's as CC to the ticket and then allow people in CC to add notes
1. Enable people in CC to add notes Settings -> Ticket -> Options -> Allow Non-User CC Updates
2. Create an Action rule to add approver's as CC Settings -> Processes -> Action Rules -> New
Select your criteria
Set Actions to Edit ticket and add the appropriate users in the CC box. (Make sure the other boxes are filled in as desired.)
You are now done.
Note: This will wipe out Client supplied CC. If that is a deal breaker in your situation sorry I still don't have a solution for you.