Connecting two servo2040 boards together

I have bought 2 servo2040 boards for a humanoid robot that I’m building. One board is for above the hips the other for the hips and legs. I have two IMU’s to set the balance which rn on the I2C buses. What I wat to do is have each board bi-directionally communicate with each other to make balance related or full body related movements.

I want these board to run independently of the Raspberry Pi, but be able to receive and send data back and forth from the Pi.

I will have a couple of spare ports (unused by servos) on each board so, if I use GPIO ports 0 and 1 as UART 0 will there be issues because of the board and firmware configuration.

My programming language of choice is micro python as the rest of the robot is in python.

Thank you