I am building and testing a circuit similar to the attached picture on tinkercad. I want to create a pcb that will reduce the size of the circuit that i can use when i am able to physically build the circuit. In reality I will be using a TB67H420FTG motor driver(as my motors are quite high power) however this is not available as a part on tinkercad.
Assuming you are at the level that you have the ability to design a PCB like this, I don't understand why you are still using Tinkercad. You should have outgrown it years ago when you were designing your first PCBs (if this is your first, just forget it).
I'm using Tinkercad in school as a teaching aid for 3D design, and recently for the Arduino emulator. Even with a 3-component setup I ran into its limitations already. The fact that they even have the obsolete L293 driver in there, and - worse - as only option for a motor driver, is telling. Tinkercad probably also doesn't have proper connectors available for the thick wires to the motors.
That's indeed a 9A capable chip, will need a heat sink. From the looks of it, hou can use thermal vias and a heat sink on the back of the PCB. Or find a way to clamp a heat sink on the top of it. The 0.5mm pitch is another challenge - ever tried to manually fix solder bridges in such a chip? I can tell you it's not easy!
The only chance of success soldering such a chip is indeed by stencilling the solder paste onto the PCB. I don't have an oven myself; hot plate and hot air gun works quite well. Nonetheless I would avoid such chips if not absolutely necessary.
Then the circuit design. 9A motor driver, 24V and 5V circuits on the same PCB, high currents, presumably PWM so massive switching noise... lots of decoupling and filtering needed to keep that ATmega running reliably.
You will have to worry about the thermal properties of your project. How do you get rid of the waste heat of that chip, and the heat of the motors?
Start by buying the components on breakout board, like the Polulu module. Make sure everyhing works. The emulator can tell you only whether your code gives the correct signals to the motors and whether the basic logic is sound, not whether it will work in real life. There's just too much difference between the two.