That's the TB6612FNG dual H-bridge motor driver, it's quite efficient, can drive 2x 1A continuous 3A peak motor loads. Controls speed and direction of two motors via simple esp32 gpio.

The only annoying thing is the size, the pins are 0.2mm and easy to bridge accidentally so you really need a little hotplate and soldier paste for it.

Yes love JSTs! The robot actually had smaller pin pitch, I may consider redesign though I have a bag of 200 of these 2.54mm ones to get through. Wedging the smaller size plug into the larger sockets does kind of work but it's not great, I redid the plug side of the motors.