Syncing iOS devices to multiple Macs with same Apple ID
There was a time when it "worked" to plug an iPod into separate computers with the same Apple ID. Have you tried just plugging them in? I think the key was that you need to manually manage music and videos on the iOS device. You probably don't want the computer syncing automatically either. There is a setting for that in iTunes preferences.

Syncing iPhones with multiple computers is a big bag of hurt. I don't think that this works at all.

Hopefully iCloud works perfectly and solves all these problems for us sometime this fall.