16 motor controllers! A full PDB! I thought we were crazy with 14
Your CAN wires have become untwisted in some areas. In particular, the lines entering the connector on the upper right have become visibly separated. While it is unlikely to cause major problems, I recommend looking into fixing some of the more extensive spans of untwisted wire, especially since you have so much that relies on the CAN bus.
EDIT: Your PCM will definitely have communication issues, given the state of its connection to the CAN bus.