also check all the power cables for continuity to the frame, clean and replace any cables that run under the battery and have been sitting in the corrosion under the battery, and closely inspect those same cable for ANY cuts especially where the cables run under the battery and then go under the battery box.
That front part of the battery box is bad for wearing a cut into the cables, since the cables are pretty tight and pull up right after they go under the plate.

Check the harness at the controller CN1 to transisters and current sensors.

Possibly as this is what the codes state:

10 - Faulty right motor armature circuit, faulty line contactor, faulty regeneration contactor,
faulty D1R diode, faulty D2 diode, faulty right motor armature wiring, faulty head
capacitor, faulty T1R IGBT, faulty CS1 current sensor, faulty wiring in other parts, faulty
logic card, faulty drive board, faulty H bridge card.

20 - Faulty left motor armature circuit, faulty line contactor, faulty regeneration contactor, faulty D1L diode, faulty D2 diode, faulty left motor armature wiring, faulty head capacitor, faulty T1L IGBT, faulty CS2 current sensor, faulty wiring in other parts, faulty logic card, faulty
drive board, faulty H bridge card.