We present a new micromotor catheter implementation of dual-beam manually-actuated distortion-corrected imaging (DMDI). The new catheter called a depth-multiplexed dual-beam micromotor catheter, or mDBMC, maintains the primary advantage of unlimited field-of-view distortion-corrected imaging along the catheter axis. The mDBMC uses a polarization beam splitter and cube mirror to create two beams that scan circularly with approximately constant separation at the catheter surface. This arrangement also multiplexes both imaging channels into a single optical coherence tomography channel by offsetting them in depth, requiring half the data bandwidth compared to previous DMDI demonstrations that used two parallel image acquisition systems. Furthermore, the relatively simple scanning pattern of the two beams enables a straightforward automated distortion correction algorithm. We demonstrate the imaging capabilities of this catheter with a printed paper phantom and in a section of dragon fruit.