You could look at the AMP CPC connectors, they have a couple of larger pins in some units to allow for this.
It is usually considered better to go separate connectors, but it is still done.
Run the encoders in shielded pair cable with overall shield, and the motor conductors in either shielded or twisted pair cable.
If you want a more rugged connector, the Cannon MS (Military Style), used on commercial machines is much more expensive.
Al.
CNC, Mechatronics Integration and Custom Machine Design
“Logic will get you from A to B. Imagination will take you everywhere.”
Albert E.