It looks pretty close to me. Simplest method to achieve what you want would be to make a trigger that checks for either guard entering region 001 or 000 and then orders it to halt until the other one enters the region, then order both to resume patrolling. You could also do a "Wait until" Action which waits until the X-coordinate of one equals the X-coordinate of the other before resuming patrol. Either way should work.
Also I believe the pathing algorithm is what is causing the discrepancy, I tried removing the rock doodads you placed and there was no deviation.