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I ended up using a completely different solution for a multi-robot setup, so this error is no longer relevant, but I'll write it as an answer here!

Instead of using tf_prefix in it's existing form and robot_state_publisher for namespacing my robot frames, I set the prefix variable in my .xacro files for both robots. This raises a couple of issues, but they can be solved.

1. You have to rename all the joints and frames in your package to match your prefixed .xacro (this also means renaming them in the .srdf, kinematics.yaml, joint_states.yaml etc.;
2. I didn't want to edit the controller in the ur driver, so I had to copy it and rename the joints to the new, namespaced ones in it, then load it as a rosparam in the ur_controller.yaml
3. ur_hardware_interface doesn't return these namespaced joints, so a publisher for renaming them had to be made and the joint_state_publisher remapped to the new publisher

After this is done, no problems arise with moving both of the robots simultaneously with move group.