Having a BS/BA is not your issue, actually. Even in industry, great research organizations are staffed with PhDs and equivalent. What you want, if you feel the need to leave your present employ, is a doctorate. That will make you desirable. But you may have worked your way into a comfortable niche and it may continue to work for you without further action.
But if you want to gain the ability to move about freely in the world of research, either in academia or elsewhere, then you need to find a way to get a doctorate. I would suggest that you try to do this without going back and starting with a Bachelors, especially in the US. You probably already know whatever it is that a bachelors will teach you. This is especially true of knowledge required to do a job, but may be missing some theoretical parts of CS. The missing pieces may be more or less important depending on which sub-field you wish to focus on.
My suggestion is that you go and visit a few places, after making some appointments. You want to talk to a few faculty members. You want to explore your options with them. They can tell you what you need to know to start out with a combined MS/PhD degree program. You can tell them what you already have skills with. Perhaps they match up well.
Such a program in the US normally starts out with quite a lot of advanced coursework. It assumes the knowledge of a bachelors, but not much else. If you can handle that coursework then there is no issue about your suitability. The coursework leads to comprehensive (qualifying) exams. If you can pass those, you are considered ready to do research.
Any program that would accept you would be one that is fairly large, but not so large as to be required to fall back on rigid rules of entry.
You might also be able to convince some place to accept you through a small number of exams. Perhaps oral exams in which someone explores your knowledge. This could also give you a way to learn what actual holes in your education are required to be filled to be accepted into a full doctoral program.
But I think that completing a BS/BA is not necessary and would be the longest path to getting the needed credentials as a researcher. You would find much of it boring.