@BillM - actual PCB design is a mess - I suggest to start over (erase all your traces) and do this:
1. place all components again - look at the ratsnest to select best place for a component. For example D3 and D4 - they are swapped in their positions - they belong to output connectors so put them accordingly. Routing will be easier.
2. when placing parts think about the schematics and firmware - you can swap Q3 and Q4 in position to ease routing. Maybe you can also swap OUTA & OUTB if you need and correct this in firmware (if you need)
3. do not route traces at the PCB edge - we are in Automotive design and it's very harsh environment. Try to have GND copper pour around the PCB edge and not an active signal path (this is not valid for RF design so under ESP antenna is no copper pour)
4. maybe you can switch to some SMT parts - for example resistors. If you use 1206 resistors soldering is easy even for the inexperienced person and you save a lot of space on your PCB
5. Heat is enemy for the electrolytic capacitors - try to put them away from source of the heat (power stabilisator, power FETs).
6. Think about PCB mounting - there are no mounting holes in your design. Again - we are in automotive area so you have to think twice on how the PCB will be fixed
7. Think about the cable fixing/connectors - for example your hall probe
Ufff - I think that's all for now...