I would go for Unison. It's a tool that simplifies keeping two folders in sync.
Install it via Homebrew:
brew install unison
Then call it with the two drives as arguments:
unison /Volumes/A /Volumes/B
Follow the instructions and make sure to read the manual. There are some tips for macOS here. For example, I've created a preference file in ~/.unison/default.prf with the following contents to exclude metadata and resource forks:
ignore = Name {Cache*,.Trash*,.VolumeIcon.icns,.HSicon,Temporary*,.Temporary*,TheFindByContentFolder}
ignore = Name {.AppleDesktop,.AppleDb,TheVolumeSettingsFolder,.Metadata,.filler,.idsff,.Spotlight,.Spotlight-V100,.DS_Store,.CFUserTextEncoding}
rsrc = false
ignore = Name .FBCIndex
ignore = Name .FBCLockFolder