In my professional and personal experience, about 80% of electrical and electronic faults are caused by bad electrical interconnections, not the actual circuitry or components themselves.
My approach would be to disconnect and clean with switch cleaner spray, (WD40 now do one), as many of the electrical interconnections as you can – ideally all of them – both on the control side and the high current motor circuits. Use an old, clean toothbrush to carefully clean all the connector pins. Allow the connectors to dry out, then reconnect and disconnect a few times to 'wipe' the contacts against each other – all with the battery disconnected.
The problem might be in the controller, which might use conductive plastic switches – similar to the sort in your TV remote. These might have got condensation in the switches; causing spurious demands to the controller. They might be tricky to get to and clean. If so, maybe put the controller in a bowl of (uncooked) rice or desiccant, and/or in the airing cupboard for a week.
You might have a problem with the battery – but unlikely since you say a new battery does the same thing. Could be the battery internal control board – if you can get to it, clean all the connections as above. Rechargeable batteries usually require a few full charge/discharge cycles to achieve their full capacity; perhaps one or both batteries just need fully charging and discharging a few times – worth a try anyway. If the batteries are cheap, or if 6 years has gone by; individual cells might have become discharged, in which case a battery balancer might help, but only if the batteries and charger are designed to do this.
Finally, have a careful visual inspection of all the components and the wiring – something might have got damaged or pinched somewhere.
Good luck !
Edited By John Doe 2 on 01/05/2022 13:43:12