[MrRoboSteve]

1. Is it possible that the Jaguars are calibrated differently?

2. Rather than running it on a test stand, I would instead simulate pushing during a match by pushing the robot against the wall or some other immovable object (not a mentor) for 4-5 second periods, with a couple second break between pushes. Do it on a carpeted surface so that you have similar resistance to a field. Can you get the issue to happen by doing this over a 2-3 minute period?

3. Per Daniel_LaFleur's suggestion, I'd look closely at your programming to see if you can figure out whether there's a state where you're having drivetrain elements oppose each other. If you don't already have it, consider adding some debugging logic at the point where you are setting the motors. One obvious condition to log would be when the two motors on the same side of the robot are commanded to drive in opposite directions when your grippy wheels are down. Depending on the precise nature of the change you made in #3 this may or may not be the problem.