The issue here is that when an action is invoked from one of the controllers they redirect to this controller and the page url becomes "/page/controllerActionOne" and on the route /page/controllerActionOne the second controller is not existing, its existing on route /page . Attached are two widgets that call their actions trough async requests without changing the route, please test if this is suitable for your scenario.
I also suggest you to check the Sitefinity MVC webinar here
and you will answer your questions about the routing, how does Sitefinity process the MVC requests and how does the hybrid mode works exactly.
Do you want to have your say in the Sitefinity development roadmap? Do you want to know when a feature you requested is added or when a bug fixed? Explore the Telerik Public Issue Tracking
system and vote to affect the priority of the items