How can I use two TP4056 with four Li-ion batteries, but single load?
Thus your problem now looks like this.


"No Way, Jose".

Yes they need to be balanced to prevent accelerated aging from mismatch charge imbalance with high current and deep discharges.


It is analogous to runaway series incandescent lightbulbs ( where the faster weaker bulb achieves near full brightness and the other bulb stays cool.  
Another example is like mismatched-Vf shunt LEDs sharing current. If one LED cannot support the current of 2 or more in parallel, one can burn out open cct as thermal runaway lowers the Vf of the hotter LED thus drawing more current.

There is a better chance of extending end-of-life to achieve the max rated charge cycles if they are balanced or much lower if they are not!