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Curtis does support master-slave configurations, at least of their AC controllers, intended for separate left and right wheel motors - that would work fine with the steering input set to zero, so the speeds match. But you're using DC controllers...

You can probably just wire the same throttle signal to both controllers; with the controllers taking that as a torque command, the motors would share the driving duties properly as long as one set of wheels don't slip.
 

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Coming up with a similar question regarding setting up forward/reverse contractors.

Should I plan on adding a separate forward/reverse contractor for each motor, or, use one contractor to drive both motors?
Those contractors switch the polarity of the motor field (stator) windings relative to the armature (rotor), so they are switching controlled current and are so inherently after the controllers. As remy_martian said, there will need to be one for each motor.
 
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