Hi ssinfod,
RPMsg is used by the OS which manages the Memory Unit, so it is not possible to use it with 2 external MCUs.
In this case the best interface will depend completely on the requirements of your application. I recommend you to read general literature about communication interfaces and decide which protocol meets your requirements.
In i.mx devices you have a wide variety of connectivity options, for instance UART, SPI I2C, USB, Ethernet, CAN and some others.
Best regards,
TIC
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