Metrocars 4001 and 4002 are indeed the prototype units for the Tyne and Wear Metro and underwent extensive testing on the North Tyneside test track, which is now the preserved North Tyneside Steam Raiway, prior to construction/conversion of the Metro network being completed.
As far as I know, 4001 and 4002 are identical: They originally differed from the 88 production Metrocars by having end doors, as per the original German design and a few other differences, but they were rebuilt to be more in line with the production vehicles prior to entering passenger service on the Metro network. They still exhibit a few differences to the other Metrocars, one of the most noticeable for passengers being the different push buttons for the entrance doors.