I want to be able to play same game on 2 consoles in household.

My children both have their own accounts on my family account.

both children need to have their own accounts, the same account cannot be signed in on two devices

Follow the instructions here

https://support.xbox.com/en-US/help/hardware-network/console/my-home-xbox

just really looking for an answer. as there are two Xboxes in my household is there any way to download the same game on the 2 consoles and then both log in and play the game at the same time.

Thats where the Game Sharing feature comes into play. It was designed for households with 2 consoles.

Unfortunately it is only designed for 2 consoles. It prevents people misusing this feature and giving access to the games to friends that lives in another household.

However they should think about having a similar feature for family accounts, 2 parent accounts and 2 child accounts to have access to the same games and subscriptions.