You have two issues here. Let's begin with the hot water taking so long to get to the kitchen sink. You are wasting alot of treated water first of all. You can add an Autocirc circulator at the kitchen sink to solve that problem and have intant hot water without a recirc line back to your heater. It would require an electricial outlet tp plub into. Here is the link to Autocirc.
This is much cheaper and easier that doing a loop system to your heater.
The second is your low water pressure. This is caused by your well pump not being able to keep up with the gpm demand. This would require adding a glass lined retention tank for volume storage and a H2O pressure booster pump. The retention tank is a storage tank and not a pump tank. This will give you up to 40 more psi and supply your demands. Here is your link to Flexcon.
Now, your water heaters. If they were piped in correctly, the cold water and hot water would be in the center of both heaters. A tee would be installed in the center and go left and right to and from each heater. You get the best results this way and not from going in one and out the other.
If you have any other questions on this I can be contacted at [email protected]
I also stock all of the above mentioned items and can ship any of them if you can't find them loccally. I also can be reached at the office at 410-760-2801. Good luck and I hope you find my informatin useful.