Now, I'm not certain about this, so don't take it as gospel but I would have thought that you could ride away from customs just fine, and then go through the import process later. After all, what's to say you didn't intend to leave the UK with your bikes, but changed your mind once you'd been there a while?
The only thing might be what you need to do to tell the Canadian authorities that the bikes are no longer in the country. If you have to hand in your registration, and get an export certificate from the Canadians before leaving then I can see the problem as you're riding an unregistered bike. If however you can just ship them still registered in Canada, then, it's going to be as I said above.
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