At slow speeds the motor without encoder ring may not spin. This is normal. Try a higher speed step, and both motors should have decent torque. If you have the modular board set, then some variation in speed is normal. Still they should cooperate well enough in a lash-up.
The newer RCMC will have close speed matching if both locos have that electronics package. If they don't match up, it is possible one of the locos has a bad encoder (the encoders have dual sensors) and this can affect speed if one of the two sensors is bad.
As a rule, all Legacy locos should speed match, per design. Try running them on the same ID as an engine and post the results here...