Also look at the 2N3055 datasheet SOA and derating graphs. For a 0-30V PSU, your input voltage needs to be over 34.4V in the ripple troughs (35.1V with a Darlington driver), and assuming a max. heatsink temperature of 75°C, that means the most a 2N3055 is good for is 2.3A, with no safety margin. If the input voltage is higher that drops considerably, e.g 2A @ 40V in, so your six transistor PSU will at best be good for about 14A continuous into a shorted output, and possibly only 12A. Therefore, unless you implement fold-back current limiting, so at higher output voltages it can take advantage of the more favourable lower Vce side of the SOA, expecting 16A out is unreasonable.
I doubt you need a Darlington driver. If the original circuit was good with a single BD139, simply use two, each driving three of the 2N3055, and drive both their bases from the '723 VOUT pin. Worst case the total load on VOUT will be under 10mA if you select for the crappiest low gain 2N3055 and BD139 transistors, and if you use decent average gain transistors, it will only be a couple of mA.
To minimise voltage drop and thus unwanted dissipation, I'd use the voltage drop across the emitter degeneration (current sharing) resistors for the current sense. Simply chose them for the desired limit current PER TRANSISTOR and combine all the emitter voltages via individual 100 ohm resistors to the 723's CURRENT LIMIT pin. The arrangement with the 500 ohm pot between CURRENT LIMIT and output, wiper to CURRENT SENSE is no good. Turn the wiper too far towards the CURRENT LIMIT end and it disables current limiting! Also it works by having too much sense resistance, and 'potting down' the voltage seen by the 723's internal limiting transistor which results in excessive voltage drop across the sense resistance at high currents. A better approach is to provide a stabilised voltage that can sink current 1V below the output voltage, and connect one end of the current limit pot to the output and the other via a trim resistor to set min. output current, to the 1V lower rail. The voltage from the pot wiper then adds to the voltage across the sense resistor(s), resulting in limiting at a lower current.