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And yes, the 't' decomposed from essential matrix should be a unit vector, there is no way you could do with it. The translation 't' is up to a scale factor, which you could not figure out depending on the stereo images merely.

Possible solution would be introducing the scale information of the real world, including using the aprilTag or adding an IMU to your system.

Regarding the rotation 'R', the result of recoverPose() should be correct. However, when you use findEssentialMat(), you are assuming by default that the intrinsics of the pair of cameras, are same. Thus, if the intrinsics differ too much, the rotation 'R' you get could be incorrect.