Crimping is the best option to avoid the cracking that can occur with soldering. Not to mention once the wire gets thick enough, soldering becomes a messy solution anyways.
16awg is borderline, but if you think you will be splicing thicker wire, these hydraulic crimping tools are great:
They can be awkard to use, ie you really need 2 pairs of hands, and can be difficult to get into tight areas, but other than that the quality of the crimp is excellent. It essentially crushes the crimping sleeve and two wires into a solid lump. Takes a bit of practice to get them just right, have to keep rotating the crimp in the die.