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Should we rewrite our software from scratch?
We are at the worst place to give you informed advices because we don't have details on that code and its problems. The 2 engineers working on it probably have a better idea on the question.
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They say that by doing this the code will be bug free and we will have more robust and maintainable code.
at best, those are pious whishes
Bug free: In history of computers, no program beyond the simplest ones have been bug free, ever.
Ask NASA what they think about bug free software, and god knows how a bug can be deadly for them.
Mars Climate Orbiter - Wikipedia[
^]
more robust and maintainable code: it fully depend on the people writing it. Nobody can ever guaranty you about this kind of benefits.
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Also about once a year a customer reports a bug to us that we didn't know about.
I would say the rate is rather low.
My answer: If you don't have major problems with actual software, don't rewrite it from scratch.
I would rather apply modern tools like static analyze to help proofing the code and hint bugs.
Ensuring the code is fully documented is a good idea too.