6041 -> EMF: Parking motor left stiff
D395 -> EMF: Message TORQUE_1 (ID: 0xA8) - error in alive counter
2A12 -> 2A12 DMTL solenoid valve, control
CD99 -> CD99 Message (Torque Request EGS, B5)
CD9D -> CD9D Message (Transmission Data, BA)
CDA9 -> CDA9 message (heat flux / load moment air conditioning, 1B5)
CDB0 -> CDB0 message (transmission data display)
CDBE -> CDBE message, (target torque request from DSC)

I don't see anything there that would keep it from starting, just a bunch of CAN errors that are likely related to battery replacement. I'd clear the codes and try reading them again. The DMTL error is probably legitimate (very common) but shouldn't set again until the vehicle is driven. The parking brake error might be valid as well as it's also a common fault. Can you take a video of what it does? I'm almost willing to put money on it being a bad starter... (and I did forget about the ground strap issues, but you already checked that!)