Off the top of my head what if you use: 
https://plugins.jenkins.io/heavy-job then you can allocate a specific 
weight which its size is greater than half of the number of executors of 
those agents? 

For instance:
- agent_a => number of executors 4
- agent_b => number of executors 4

- job_1 => weight = 3
- job_2 => weight = 3

This will work only if those agents are based on the same number of 
executors.

Besides of that, you might need to use the matrix 
project https://wiki.jenkins.io/display/JENKINS/Matrix+Project+Plugin to 
accomplish your second requirement.

There are other ways by using 
the https://plugins.jenkins.io/lockable-resources but then you need to 
specify those critical sections using the resources. If you use pipelines, 
then probably this is the way to go.

My two cents

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