Susan, that is indeed a great accomplishment. Interestingly when seedlings, even cacti enjoy a good dose of shade, the best way to kill of young seedlings is to put them outside in the full blazing sun too quickly, but your plants are getting to the point where they shwould need to start getting a regular dose of good sun. A growth light might be something to consider.
Otherwise aside from underdeveloped spines, they will also start getting way more etiolated than they already are - stretchy and floppy from lack of enough strong light - if you look at that indoors grown young Saguaro it has a similar coloring and spine development as your plants, but it looks way more 'barrel' shaped at roughly the same size as yours.
Regarding the lack of ribs on the seedlings: many cacti (think Ferocacti, Goldenbarrels, and also Saguaros) start out without fully developed continuous ribs, but they will look knobbly in their early years. I have uploaded a pic of a 'youngish' Ferocactus emoryi where you can still see the knobbliness, but already see them transforming into ribs.
I think your seedlings could very well be Saguaros, but their greenness and the yellow-ish spines throws me off. I thought they might be etiolated golden barrel seedlings, however they do look somewhat like those indoor Saguaro seedling pictures in that article you link to, but as I noted above they are already pretty etiolated and would really need to get a lot more good light to stop that process from continuing. A growth lamp might help them show their true 'colors', but be careful when moving those plants into more light or under a growth light - they are not used to it and will probably need to be adjusted to more light/sun exposure carefully otherwise they could get scorched pretty badly and at that size, that could well be fatal.