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We revisit the analytic solution of the two-qubit quantum Rabi model with inhomogeneous coupling and transition frequencies using a displaced oscillator basis. This approach enables us to apply the same truncation rules and techniques adopted in the Rabi model to the two qubits system. The derived analytical spectra match perfectly with the numerical solutions in the parameter regime where the qubits’ transition frequencies are far off-resonance with the field frequency and the interaction strengths reach the ultrastrong coupling regime. We further explore the dynamical behavior of the two qubits as well as the evolution of entanglement. The analytical methods provide unexpectedly accurate results in describing the dynamics of the two qubits in the present experimentally accessible coupling regime. The time evolutions of the probability for the qubits show that the collapse-revival phenomena emerge, survive and finally disappear when one coupling strength increases from weak to strong coupling regimes and the other coupling strength is well into the ultrastrong coupling regime. The inhomogeneous coupling system exhibits new dynamics, which are different from the homogeneous coupling case. [ABSTRACT FROM AUTHOR]