@Antun_Skuric I did a few tests with the YUNM4234 motors.
I tested the board with no type of cooling drawing 5A continuously for 30 seconds and the board heated up to around 75°C which is up to spec.
I did a second test with a mediocre cooling fan near the board and the motor and drew continuously 10A for 15 seconds and it heated to around 80°C which is still up to spec, but it would have certainly gotten hotter if I waited longer. You should be able to draw up to 23A with great cooling and a 2oz+ copper PCB.
@Engineering_Nonsense Thank you! I couldn’t for my life fit the encoder at the center and still have all components on one side of the board and I figured an offset encoder wouldn’t be that bad haha.