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Hello,
Yes, you can use single Antenna for each modem, but if you require a backup antenna you can use two antennas.
Untill and unless you are using the Antennas provided by the Teltonika there is no need to do anything.
If you using any third party antennas, please refer to the link to know about the parameters required: Third-party Antennas - Teltonika Networks Wiki (teltonika-networks.com)
Best Regards,
Akash R