The MTH P5a drive design is not the best, as it uses one motor to drive two axles, and another motor to drive a single axle. So the power is not balanced. Since all the drivers are mounted to a rigid frame, all it takes is a little imbalance in weight distribution to lift one wheel, and hence start it slipping. Imagine a teeter-totter with the blind center driver as the fulcrum. If slipping starts on the motor with the tach reader, the DCS system will think the loco is moving, and won't apply more voltage to the stalled motor.
Here are some things you can try; going from easiest to hardest
1) Remove the springs from the four wheel trucks. That prevents weight from being taken off the drivers. In other words, maximizes the weight on the drivers, and hence minimizes slipping. The four wheel trucks should track fine, but if they derail, add some weight on top of them
2) Pull off the shell, and spray contact cleaner into the motors. Test with the shell off to make sure both motors start turning at the same time. If that doesn't happen, start lubricating the drive train
3) Make sure the Tach reader is on the motor that turns two axles, and not just one. This is not as much a help as you would like, as the pair of axles can slip as well, but your chances are better that the pair won't start slipping
4) Remove the motor that drives the single axle. Add weight where the motor was. This helps prevent the powered pair of axles from slipping. And they should be powerful enough to pull a reasonable train
I have done the above, and that usually solves the problem
5) Remove the motor that drives the single axle, and power the single axle via sidewinder gears from the middle axle, this is complicated, and not for the faint of heart. I have never done it, but have contemplated it from time to time, as I am sure it will solve the problem