I followed the instructions at
https://www.insteon.com/support-knowledgebase/2016/2/24/factory-resetting-insteon-hub to factory reset the two switches. It is a bit tricky pulling out the set buttons - I end up removing the switch places and using a something thin and pointed, like a jeweler's screwdriver or staple remover.
I manually unlinked the switches from the hub in both directions. The switch link databases were now empty but the hub still pointed to the switches.
- one switch linked as a CTRL for groups 00 and 0a
- the other switch linked as a RESP for group 00 and also CTRL links for groups 00/01/0a
I cleared the modem database by using multiple modem.removeResponderOrController("<switch id)",<group>) and verified that there were no remaining links. I was then able to manually initiate the linking procedure from the hub to each switch, and then from each switch back to the hub. The switch databases now showed RESP/CTRL links to the hub on group 1 and the hub showed RESP/CTRL links to each switch.