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@allObjects
I know exactly what you are dealing with... the IC is the famous TX-2B / RX-2B or TX-2C / RX-2C chip set... - google
4 or 5 channel remote control IC 27MHz(images and then sites) where you find plenty of information... including some details of the drivers for the motor and solenoids, for example, this with variations.As I see from your pic, there is a plenty of transistors/fets on the board that drive the things... you can reverse engineer, but you also can go just by yourself. What I suggest is to get a quad half-bridge chip, where with one you drive the motor, and with the other you drive the solenoids in series, for example something like SN754410 Quadruple Half-H Driver running on 5V, but able to run on 3.7V: Allegor A3988 quad half bridge drivers.
Since you do not have a lot of space, you may salvage the drivers from your current board - if they are still any good. Otherwise, check out some examples for H-Bridges with bipolars or examples for H-Bridges with FETs. You may find either on your current board...