CW & CCW problem

I am following Hoverboard guide, connect 2 hub-motor to the driver, one in CW direction and the other in CCW to make car run forward. My problem is when I give small command like set_vel to 50 and -50, car will always lean right but if I give higher value, it seems fine (but still not straight). Spinning looks fine when wheels are off the ground but not on the ground. I am using the built-in HALL-sensor of the hub motor.
As I know the HALL-sensor is always installed with certain positive degree, is it the cause of this problem?