Do your mechanical systems spin freely when powered down?
A direct drive CIM and a banebots motor on a 1:64 reduction should both be easily turned by hand. If not I would look into the possibility of any mechanical binding causing an increased load on your system.
If you have access to a clamp on
DC current meter it may help your troubleshooting. I find chasing the current is much faster and more objective than any other means of troubleshooting binding on a FRC robot.