Did I say brass tender pickups were difficult? I don't think they are really any harder than any other tender, but that's probably
because for any tender, I rip out any existing pickup mechanism, put Kato or Bachmann trucks under it, and solder fine wires
directly to the truck pickups, so I bypass any issue with a brass tender floor, or any other wiper/contact mechanism.
Your centipede tender, however, is another kettle of fish. Your idea for a PC board with bronze whiskers is probably as good as any.
A cheapie solution might be to just live with 5 wheels on one side, and then flip the front truck wheelsets around so they
serve the opposite rail, and isolate that truck from the tender frame with some plastic. A fine wire attached to that truck frame could then carry the other rail from 2 wheels. I know, 5 and 2 ain't as good as 5 and 5, but it would still be a help.
I have thought about these centipede mounts on and off, but never had one I needed to fix. A full-on fix would be to
remove that axle block, cut it in half the long way, removing half of it out of its middle, so you end up with
two 5-axle-long strips with the slots in them. Then you get more wheelsets, cut them all in half and join only
"live" halves back together with short lengths of styrene tube in the middle. Put it all back together with one
axle block isolated from the frame by a sheet of thin plastic, and now you have full 10-wheel pickup with no wipers.
(But this is a lot of work....
)