Having to adjust different lenses for different cameras is completely natural and necessary. And it's important to note that it's a dual sided problem, a given lens might focus perfectly on one Canon camera, but +5mm or -5mm on another. This is a very common and silly situation, I don't like it myself, but it's just how this stuff works.
This is why I think every canon camera should be delivered with a focus calibration paper stand and a the "micro adjust" feature.
See page 18.
http://focustestchart.com/focus21.pdf
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