You only need to have one apply loads block. You will need to sum the outputs of your different position controller blocks and feed those sums into your single apply loads block.
All of the load blocks output a 4 element array. Depending on your robot these elements are either shoulder and elbow torques (Exo), or X,Y direction forces (EP). So for an EP the elements are X,Y Right robot, X,Y Left robot.
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