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QUOTE As the controller programs, the loco nudges forward a couple of mm several times

That means something is happening. The nudging forward (some decoders alternate between forward and reverse) means that the decoder is trying to tell the controller that it received information. My guess is that your pair of motors are just too large for programming on the programming track but I don't have enough experience of high consumption motors to be able to confidently suggest how to work around it.

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