The periodic beeping is normal for this particular ESC. If you've ever used ESCs by Castle Creations, they do the same thing. There's probably a way in the programming to turn this off, but you can't find it in the documentation.
If the two motors do not start at the same time, check to make sure that both props turn smoothly. If one of the bearings on one of the motors is slightly out of alignment, it will cause drag on that prop, and the prop will be delayed in startup.
Unfortunately I don't know what's going on with the ESCs losing their programming. If you find out what's happening, please let us know. Here at OROV we're starting to play with this particular ESC, and are trying to learn as much about it as possible.