V5 Delivering less power to motors at random intervals

While running our robot with V5, the microcontroller will sometimes stop delivering the power to the motors that the code is requesting. It happens at any battery voltage, any program run time. Normally, our drivebase motors are receiving 3.4W on 100%, but when the issue starts, that drops to 1W. Restarting the robot does not fix the problem, but the issue stops after giving the robot no commands for ~10 minutes. Has anyone else encountered a problem like this? Does anyone know how to fix it?

Your motors are getting warm. They do not cut out entirely like 393’s did when hot, but instead start requesting less current.