A lot of times unloaded motors on a bench may not run due to resonance. And the Xylotex is already known to suffer from resonance pretty badly. My Xylotex poered router was almost unusable due to resonance, until I added dampers.
According to the Xylotex website, if you're board is version 4.02 or lower, the VREF should NEVER exceed 3.6V. If it's 4.03 or newer, the VREF should NEVER exceed 2.0V. You also need a cooling fan when running near the board's max current ratings. But your VREF is set too high. Set it to deliver 2.0 amps to the motors and see if it works better? Also, try putting a load on the motor.