My CAN buses are usually a mix of Anderson Powerpoles and
CAN Connectors, depends on what I'm trying to do. On my MecanumBot, its totally CAN Connectors.
Motor and Power are often Anderson Powerpoles. On my MecanumBot, the Talon power leads go right to the PDP's WAGO connectors.
I always solder when using Anderson Powerpoles. Basically I use the powerpoles and solder if I have the time. If I want something quick/temporary or I want to be able to quickly replace/move devices, I use the CAN connectors.
Whatever you do, always tug-test!