You probably have a problem with one of the propshafts causing drag, which makes it harder for the motor to turn the propshaft..
Disconnect the motors from the propshafts and try turning them by hand, they should turn freely..
You might have to dismantle the propshafts, and give them a good clean out..
Then with the correct lubrication put everything back together, making sure that the proshafts turn freely..
It also sounds like, that your speed controler, might be set up wrong..
If you have more speed in one direction, for example the motors turn faster in forward or reverse.. you might have to re-set your speed controler..
On other thing, even though you say, the motors are identical, one of them might have problems with its bushes.. I suppose that the motors are not brushless..