Robot communication stops when switching drive direction

[adanmoran]

We are running a drive train with 2 CIMs and 1 miniCIM per side (6 total). All our talons are calibrated, and the motors drive with no issues in both the forwards and reverse directions.
Our issue is that when we switch directions from forwards to reverse (or vice-versa), the robot communication cuts out entirely. The robot doesn't shut off. We can drive at full speed, stop, then switch and there is also no problem.
Our router is connected to the power distribution board with a 5V transformer.
We've checked the battery, and we don't get any readings below 10V on a full battery.

We've been trying to debug this issue for the past 2 days. The only thing we know for sure is that this problem happens only when motors are driving at 70% of their speed or more. Anything under that and we can switch directions perfectly fine.

Does anyone have some advice? We're kind of stumped.