I suspect the issue is the very low kv motors. Assuming this is a non sensored setup, non sensored escs tend to cog with low kv motors much more than high kv ones. Something like a 5.5T (~7400kv?) will usually work pretty good, but a 17.5T (~2200kv) frequently won’t work nearly as smoothly for example.

The direct drive may be contributing, although those are low rpm motors it’s still quite possible that it’s too much gearing depending on the size and torque capability of the motors. What motors do you have?