OSError: [Errno 110] ETIMEDOUT
This error usually comes up if an I2C device (such as the IMU on the control board) does not respond. Since commenting out the IMU and drivetrain (which uses the IMU) resolves the error message, my guess is that the IMU on your board may be malfunctioning.
Could you please run an I2C scan to confirm whether the IMU sends an acknowledgement? If not, then your board is likely defective, and I’d suggest going through SparkFun’s support directly to resolve it (most likely RMA to get a replacement).
Hope this helps!