are you giving those motors raw battery power? dont think thats too good. to your motors or your drivetrain. 0 to 100% power in an instant. at least your not using those old drill trannies lol. that would be baaaaad
well yes it will arc. the brushes and comm will wear faster, but considering the lifespan of a robot that doesnt matter. unless ur racing it. lol. and im not too sure about victors but some escs will step up the frequency to full power so to be nicer on the motor and tranny.
and anyways, you never break in trannys with full power. you just leave them running with half power on or w/e matters on stuff but. and if you ever tried to do a full power on from a stop with a heavy robot with thw old drill trannys with lockpins in… yech.