So a few hours of research and stress helped me create this map of the Votanis System.

So we got few maps that show the system completely, a small map (https://jolstatic.fr/wiki/images/defiance/1/1a/Systeme-votan.jpg) that showed Daribo and Irath orbiting Vysu and another with Casti around Sulos.

We got this one (https://payload273.cargocollective.com/1/6/218545/7770875/votans_flipbook_2_o.jpg)

And the map shown to Amanda in the first episode of season 3, which showed how Omec orbited around the system.

This map (https://i.pinimg.com/originals/5a/90/3d/5a903d95b37947321290866743c88083.jpg) posted by the original lore guy from Trion (Vhalen) shows a potential planet called Uman near the star, a moon called Luxu near Gula and the planet Indo (which is the Indogene name for Daribo). The system became a binary at some point so this map is not exactly canon.

In My Name is Datak Tarr and I Have Come To Kill You, we see Casti. It is located near another red moon with something that looks like a gas giant near it. We see two stars as well, a large yellow and smaller blue one. We knew that Casti orbited Sulos and based on Vhalen's map I assume it orbits Gula, which orbits the larger yellow star Sulos.

The first map says that Irath has one habitable moon. The Ivali Rules (https://dedalvs.com/work/defiance/misc/ivali/ivali_rules.pdf) says that a colonized planets and mentions one called Libera, which I assume to be the habitable moon.

The Defiance News article 'New Book Reveals Secrets of a Dying World' says "However, rumors began to spread that the Arks wouldn’t be able to carry the entire Votan population. Fresh panic gripped the five planets...", which I take to mean Daribo, Irath, Libera, Casti, and perhaps Omec. (If Uman and Luxu are not habitable)

So using all of this information, I put together this map. Excuse the poor quality.

https://preview.redd.it/du2zgo9h2x9c1.jpg?width=1183&format=pjpg&auto=webp&s=51e9b6cd308a6b7e3fc6e660510ccf45984807c1