The IRF510 has an on resistance of 0.6Ω @Id=2A when the gate voltage is 10V. Not a very good FET as modern FETs go. The circuit you posted can apply at most about 5V to the gate. No wonder it is getting hot.
Are the FETs mounted on a heatsink? If so how big?
Just get a better FET. The one you have now is crap. A better FET will likely not even need a heatsink.
Also raising the voltage would help. 7V is a little low, 10V would be better.
Check your circuit! As drawn it won't work no matter which FET you use. Q3's and Q4's Drain/Source terminals are backwards and their body diodes will short the current from Q1 and Q2 to ground!
Yes, try to rewire and see what happens.
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