Two Motors on the same mechanism: risks and mitigations

[MisterG]

Dig if you will the picture.

Ball pickup assembly with two arms parallel to the sides of the chassis one on each side. At the outermost point of the arms there is a roller assembly. Each arm is mounted to a motor/gearbox that is used to raise/lower the pickup mechanism. It rotates one direction to go up over frame perimeter and the other direction to go down to pickup.

The concern is that it will be difficult to synchronize control of the two motors and that there will be 'racking' problems resulting in the two sides raising and lowering unevenly and/or fighting with each other.

Would you a) build with no concerns over this particular risk, b) proceed with caution or c) abandon hope and find another configuration?

What control schemes would you suggest for best results?

The proposed plan is to use a master / slave configuration. This would feature an encoder (pot) on one arm which will close a PID on that motor. The command to the other motor is a mirror of the first (same magnitude adjusted for rotation).

Thoughts? Suggestions? Lessons Learned?