That often happens if only one of the 2 motor coils get power. Check if connector has good contact or if wire is broken (remove motor measure resistance for both pairs).
So we found out that the reason the motors were twitching. Just like you said it was happening because the wiring was wrong initially but then once fixed it continued doing the same thing. We found that the driver chips were fried. so we got a new board and it fixed it.
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