(A) was the invention of the electric motor and the discovery of alternating current by Nikola Tesla,
If you inverse it you will notice that the structure is as follows; "the invention of the electric motor and the discovery of alternating current by Nikola Tesla was no less impressive than..."
"the invention... and the discovery..." is a compound subject, which should have plural verb "were" instead of "was"
(B) was the invention of the electric motor, the discovery of alternating current by Nikola Tesla, who was
the discovery of alternating current seems like an appositive phrase modifying invention of the electric motor; however note that invention of something is not a discovery of something. In other words you discover something and you invent a device accordingly. Illogical meaning
(C) had been invention of the electric motor and the discovery of alternating current by Nikola Tesla, who was
I don't think there is any particular reason to use past perfect "had been". Past perfect is generally used to note events that occurred prior to another event. Here we don't really have another finite verb to give a time sequence
(D) were the invention of the electric motor, as well as the discovery of alternating current, by Nikola Tesla,
Although using "as well as" wouldn't be a completely fatal error having an "and" is more suitable. But the crucial point here is "as well as" plays an additive role, meaning that it doesn't build a compound subject here. So our only subject here is "the invention" thereby we should use "was" instead of "were"
(E) were the invention of the electric motor and the discovery of alternating current by Nikola Tesla,
Correct