Some VFDs are OK to run 2 motors together, some aren't. But generally you don't want to be connecting a stationary motor to an already-operating VFD, so unless the machine can operate correctly with motor motors always running simultaneously, you would need separate VFDs.
Do the motors need to start and stop independently?
When you run 2 motors simultaneously, there are some settings you need to change, such as disabling the thermal protection. Details in the manual…