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I don't know if it will solve your problem, but when comparing what I normally launch with, your line here

<node name="controller_spawner" pkg="controller_manager" type="spawner"
      args="$(find sim)/config/config.yaml"/>

I have formatted like this

<rosparam command="load" file="$(find sim)/config/config.yaml" />
<node name="controller_spawner" pkg="controller_manager" type="spawner"
      args="joint_state_controller jointfour_position_controller jointfive_position_controller"/>

This is just an example, and you would probably want to put all of your controllers named in there. Let me know if that works.