I don't want these boxes to collapse. How do I do this? It may require a hack but I am fine with that. I searched all the documents in uc_cart and couldn't find (I assume this is what I would remove).
It's in your checkout settings. 
"Use collapsing checkout panes with next buttons during checkout."
Yeah, but when you uncheck that the user can still click the section title and collapse the block. The main reason for this is the box collapsing effect is somewhat buggy. It kind of jerks up and down when you click it. Is this a CSS issue?
It's a JS issue and is usually dependent on the browser and system running it. To totally remove collapsibility, you can use a custom module implementing hook_form_alter() to adjust that in the form's array. That requires PHP and Drupal knowledge.
I thought I'd update this thread with a bit of code to make all the checkout panes not collapsible for those who aren't module developers.
Assuming you are using the standard phptemplate theme engine that comes with drupal, just paste this into your theme's template.php file:
<?php
function phptemplate_uc_cart_checkout_form($form) {
foreach ($form['panes'] as &$pane) {
if (isset($pane['#collapsible'])) {
$pane['#collapsible'] = 0;
}
}
return drupal_render($form);
}
?>