We have a complex PCBA with components on both sides but we do not have the ASCII pick and place data (long story). We do have all the other Gerber files, fab drawings, and BOM.

You should be able to reverse-engineer and generate a new pick and place file.  Depending on the quality of the Gerber/BOM files, it may involve an hour or two of work using our tool FAB3K.  https://www.numericalinnovations.com/collections/fab-3000-gerber-cam

I would probably first recommend using FAB3K to generate the Pick and Place.  Do you have an IPC Netlist file? If yes, we created a shortcut that would definitely help.  https://www.numericalinnovations.com/blogs/news/how-to-generate-a-centroid-file-aka-pick-and-place-for-any-pcb-in-less-than-2-minutes

Simon

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