thanks a lot for the clarifications.
The syntax worked, here it is for other users:
roboclaw130.SpeedAccelDeccelPositionM1(adr130, 6000, 30000, 0, HorizGrip, 1); //Vertical Rot
roboclaw130.SpeedAccelDeccelPositionM2(adr130, 6000, 30000, 0, HorizGrip, 1); //Hor Rotation of grip
with one line :
roboclaw130.SpeedAccelDeccelPositionM1M2(adr130, 3000, 30000, 0, HorizGrip,, 3000, 30000, 0, HorizGrip,1);
The results are still not good, The two motors are still way out of sync en- route, but they end up in the correct position like before.
The 2 motors do start at the same place and the pulses to be covered are the same.
I tried lower speeds and they wobble all over even more...