The microcontroller is likely to be a negligible quantity in answering this question. The loaded current that this spec details (9.5A) is likely for "locked rotor" (as well as startup), running current is going to obviously be somewhere between those two values you have.
The Ah rating of a battery is how many amps in one hour the battery can supply - so a 7.2 Ah battery can supply 7.2 amps for an hour, 14.4 amps for 1/2 hour, or if your current draw is only 3.6 amps, the battery can supply it for 2 hours. In reality this isn't really the case - you would need the spec sheet for the battery to know how much current over how long of time you can max draw - for instance, while in theory you could draw 28.8 amps for 0.25 hours, likely the battery would melt down (or its life would be severely shortened).
The amount of current that will be drawn by each motor will depend on the load on it, ultimately - this isn't answerable in any meaningful manner with the information given. For instance, if you were building a robot platform with two wheels (differential drive/steering scheme), things like wheel diameter, weight of the robot platform, etc - would ultimately figure in to the total current draw. The only way you can answer this truthfully without this information, would be to pretend that "worst case" scenario is at play - that is, both motors locked, plus add some amount for the microcontroller and any other items.
In this case 19.0 amps, plus some extra (let's say 25 amps total). That's the "worst case".
So - in the worst case scenario, you are looking at getting a little more than 15 minutes of run time with a 7.2 Ah battery. Without knowing the maximum allowed current draw from the battery though (which is a part of the spec sheet for the battery), its unknown whether it can support such a draw or not (as noted - maybe it can, but with severly reduced lifetime - up to and including catching on fire).
Hope this helps in some manner...