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The present paper focuses on the high-mass star-forming region G23.01-0.41.Methods: Using the VLBA and the EVN arrays, we conducted phase-referencedobservations of the three most powerful maser species in G23.01-0.41: H2O at22.2 GHz (4 epochs), CH3OH at 6.7 GHz (3 epochs), and OH at 1.665 GHz (1epoch). In addition, we performed high-resolution (> 0".1), high-sensitivity (<0.1 mJy) VLA observations of the radio continuum emission from the HMC at 1.3and 3.6 cm. Results: We have detected H2O, CH3OH, and OH maser emissionclustered within 2000 AU from the center of a flattened HMC, oriented SE-NW,from which emerges a massive 12CO outflow, elongated NE-SW, extended up to thepc-scale. Although the three maser species show a clearly different spatial andvelocity distribution and sample distinct environments around the massive YSO,the spatial symmetry and velocity field of each maser specie can be explainedin terms of expansion from a common center, which possibly denotes the positionof the YSO driving the maser motion. Water masers trace both a fast shock (upto 50 km/s) closer to the YSO, powered by a wide-angle wind, and a slower (20km/s) bipolar jet, at the base of the large-scale outflow. Since the compactfree-free emission is found offset from the putative location of the YSO alonga direction consistent with that of the maser jet axis, we interpret the radiocontinuum in terms of a thermal jet. The velocity field of methanol masers canbe explained in terms of a composition of slow (4 km/s in amplitude) motions ofradial expansion and rotation about an axis approximately parallel to the maserjet. Finally, the distribution of line of sight velocities of the hydroxylmasers suggests that they can trace gas less dense (n(H2) < 10^6 cm^-3) andmore distant from the YSO than that traced by the water and methanol masers,which is expanding toward the observer. (Abridged)

VLBI study of maser kinematics in high-mass SFRs. II. G23.01-0.41