Hi @KCordaro,
It can be done using the Advanced Formula Booster, a 3rd-party app.
Here is the demo:

For this you don’t need any Formula column nor a Summary column.
The cost column at the sub-item level is a Text column (because you want the $ sign).
The Cost Summary column at the item level is a Numbers column (and the $ sign comes from its summary).
Only one formula does the trick:

You need 2 automations:
Hope it helps. Any question, please let me know.
