Parallel commands that depend on the same subsystem?

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How would the two commands be ran in this situation? Either by running them in parallel in a command group, or if both commands were default commands of different subsystems.

I know that if one command is run that depends on a subsystem that another running command depends on, either of the commands are terminated depending on the circumstances. Is there a way to get two commands to literally run in parallel, accessing the same subsystem? So if commands A and B depend on subsystem C, the scheduler will execute A, then B, A, B, and so on.

Is there a way to get that working?

EDIT:

If there is not, I'll explain my design further. In this case command A would only read information from subsystem C. It would only use accessor methods and no mutator methods. So would it be safe to just omit the "requires" call?