I am testing MCRSP_PMSM_V1.2.0 motor control package (twrkv58f) and it works fine with one BLDC motor. There are lots of references about M1 (motor 1) on that example. I wonder if there is some example for dual motor solution with this package and KV58 platform?
I could recommend quad BLDC on KV4x used for Drone ref. design.
The KV4 and KV5 are both capable of running 4 BLDC motors. The KV11 can run two BDLC motors, The KV4 has enough timers and a fast enough ADC to do two PMSM FOC motors.