The gist of it is that nobody seems to know, but the most simple explanation is that lateral symmetry is common in general because it's more efficiently encoded in the DNA. The organs & structures that don't come in twos are the odd exceptions, not the other way around.
1. https://www.quora.com/Why-is-it-that-humans-(and-many-animal...
2. https://www.reddit.com/r/askscience/comments/po4v6/why_did_w...