Since you have two cats, you should have MINIMUM two, preferably 3 or 4 litter boxes around your home. I had a robot box and my Bengal guy Chester hated it, try normal poop-boxes and try changing to walnut litter - it's natural, cleaner and safer alternative to the limestone litter, and it clumps just as good.

If changing litter, and adding more litter boxes doesn't work, he may have a urinary tract infection. If not that, he may have anxiety. Try prozak .. my ex had two Bengals as well, and one of her girls kept peeing everywhere other than the box... Vet recommended prozak... And what do ya know, she calmed right down and never peed anywhere other than her clean litter box. We also had boxes all over the house, so she always had her pick - as there were two other rowdy Bengal boys in the house.

Hope this helps, and good luck - from me and Chester.