LVCMOS line matching
As a rule of thumb, if your trace lengths are less than 1/20 of the wavelength of your highest frequency signal, you don't need to worry about transmission line effects.
Lets say your 10 kHz data signals have important frequency content up to ~50 kHz. Then the relevant wavelength is 6 km, so if your trace lengths are less than 300 m, you don't need to worry about transmission line effects.
Practically, your CMOS drivers might produce &quot;fast&quot; edges with much more than 50 kHz frequency content. You can limit this effect by including a series resistor at each driver output. Anywhere from 5 to 500 ohms should work in an undemanding application like yours.

Should I use terminations?

Typically CMOS drivers are not designed to drive a load with low enough resistance to usefully terminate a transmission line.