One query two MySQL servers
First of all in this scenario you have two remote MySQL server you need to have two connections.
MySQL does not support such a query wherein it connects to other server and get details, in my understanding no other RDBMS does this kind of thing.

INSERT [LOW_PRIORITY | HIGH_PRIORITY] [IGNORE]
    [INTO] tbl_name [(col_name,...)]
    SELECT ...
    [ ON DUPLICATE KEY UPDATE col_name=expr, ... ]


Conclusion:
NO. You can't write such query on Two Mysql servers.