With option 2 you may need multiple handshakes if there are several potential crash areas.
Yes that is my fear as well. Effectively I'm mig welding on a V groove seam with two robots at the same time, but the customer is adding in requirements to avoid obstacles that are really close to the seam, so I have to rotate the TCP out of the way at specific points to avoid collision. Because these obstacles are in different positions for each different robot (motion group) but the original motion was synchronized without this intention in mind, that's my challenge.
The good news is that I was able to make it work once already by setting up arbitrary points along the path of the seam, but just applying hard coded TCP offsets by group for each PR. So Option A is fortunately working. Thank you for your advice!