I believe that default Thruster Assembly Configuration as stated for CW and CCW Thrusters should be modified.
Should change Thusters 1 x 3 or 2 x 4 from CW to CCW . In this way we have less rotating torque.
Since viewing from any side always will have two counter rotating thrusters compensating each one for torque.
This is configuratyion for bigger ROVs.