The burn process depends on the burner/firmware/media combination, so these are the options you may change in order to get successful burns.
Burners are mechanical devices and they wear out like everything else. The latest firmware ensures the burner knows how to properly burn most media. Good quality media is essential for good quality burns. Also notice that the Verbatim DVD+R DL blanks with MKM-001-00 dye are rated for burning at 2.4x, and you're burning them at 4x, which could be considered overspeeding.