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Your environment appears to be composed of long, straight corridors, which are difficult for SLAM. Your maps look fairly rectilinear (I assume that's reflective of the environment), so your problem may be that the map "slips" when your robot loses sight of reliable features. Can your lidars always see things other than the parallel walls beside it? Odometry helps, but I assume you're already using that. Some things to try:

1. Extend the range of your lidars to always be able to see the end of a corridor in any direction.
2. Add small objects along the sides to provide extra features in your lidar data for SLAM to reference.