I have been told that the max draw on the compressor should be around 29-30 amps and it does have a soft start on it to avoid the start up spike. Our A/C units don't though and are Dometics. Was unable to buy the boat with Frigomar units unfortunately.
Here is the math:
30Amps x 110V = 3300W or 3.3kW.
That is a large current draw. A 5kVA inverter will give you a constant 4kW output. If you are running any kind of Air Con load, watermaker, washing machine, or microwave you will exceed the capabilities of a single Inverter.
So I recommend you automatically switch both on to avoid overloading a single inverter. They can take a higher load for a short time, but you need to that you stay within the capacity of the inverters.