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No there is no way to regularly syncdesktol to online. And since you are using a paid for desktop program there are only a few reasons to add on an equivalent version (Plus) at $45/month.
There are ways to access your desktop remotely and then it comes down to how many users you need.
Or you insist on QBO there are other POS apps that will integrate
Is there away to move the data manually?
Is there away to do it manually? Or is it better to wait until I no longer need to use the desktop version before I move online.
You may export the data to XLS/CSV and import them as Sales Receipt into QB Desktop by using a 3rd party tool.
The template should be like this