Connecting Two SDC2130 With RoboCAN Sanity Check

This is a sanity check to ensure a proper configuration.

I would like to control four(4) brushed DC motors drawing a maximum of 5 Amps each.
The plan is to connect two(2) SDC2130 controllers on a CAN bus using RoboCAN.

The first SDC2130 will have a Node ID of 1, will serve as master, and will have a Spektrum SP9545 Satellite Receiver connected to P4.
The second SDC2130 will have a Node ID of 2 and will serve as slave.

Pins 6 (CANL) and 7 (CANH) of the 15 pin D-Sub header J2 of Node 1 will be connected to the same pins (no crossover) of Node 2 using 20AWG or greater shielded twisted-pair or appropriate CAN bus wiring.
A single 120 Ohm, 0.5W resistor will be connected in parallel across the CAN-Low and CAN-High connections (pins 6 and 7) between the two SDC2130 controllers.

A Mode 2 Spektrum DX6i transmitter will be paired with the SP9545 Satellite Receiver connected to Node 1.
The left gimbal will control the two motors connected to Node 1 in a tank-drive configuration.
The right gimbal will control the two motors connected to Node 2 which serve auxiliary functions.

Is there anything obviously incorrect with this configuration or anything missing?

I have seen the example of a similar configuration here .
My application would seem to be a somewhat simplified version of this.
What sort of MicroBasic, if any, would need to be running on Node 1 and/or Node 2 to approximate the functionality I have described?

Thank you in advance for your thoughts, suggestions and assistance!