Could the door from BR #2 be placed across from that of BR #3 instead of having an entry door right next to the vanity?

That would be possible. Guess the linen shelves would be lost though?

Not necessarily, because the vanity could possibly be shifted to wall where doorway 3 now is and shelves placed next to door 6.

Also the powder room in the upper right is Huge for just a sink and vanity. Can't that space be reconfigured? It would make a more generous and convenient pantry location.

The powder is extra large to accommodate my brother that is in a wheelchair.

I see what you mean by the the doors now. Trying to visualize that...

If it were me, I would take that wasted hallway in front of the linen shelves and use it to create a completely separate bathroom. If that isn't doable, then I would change the entry to be one door from the hall. I've never liked two doors to a bathroom because it's a pain locking and unlocking the doors, not to mention the fighting that will probably ensue due to said locked doors being left locked. Where is the door to get into BR #3? And which side of the house is the front?

Make sure that the sink and toilet are properly located then, for someone in a wheelchair. (You may have done this and the vanity may just be a graphic representation, I don't know)

The two windows in bedroom 3 are the front of the house. When you say turn wasted hallway into a bathroom, how exactly do you mean? Seems that would block the doorway to BR2?
The door to BR3 is directly across from BR2's door where I marked two x's.

The hallway I'm referring to is between doors 4 and 12. Make the rectangle that includes the vanity and linen shelves into a bathroom for BR #2. Steal some of the width of that rectangle to give to the length of the rectangle that includes the toilet and tub and make that a complete bathroom for BR #3.