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You can also add a contra rotating propeller if you want to use one of the propellers that add torque. One would spin clockwise, the other one counter-clockwise.
If you got an even amount of engines/propellers, adding propellers using mirror mode should have the opposite propellers already spin in the opposite direction.
Of course, coaxial means 2 propellers driven from a single engine, similar to your wyvern example. The wyvern has coaxial contra rotating propellers.
One spins clockwise, the other counter-clockwise.
You can flip the spin direction of propellers/screws by pressing U before placing. Similar to cutting it out with the selection tool, pressing U and pasting again.