A 10a device should be fine, it should draw a lot less current when PWM holding. I probably wouldn't worry about it, or reduce the spring load a bit.
Most devices are rated at worst-case temperature, e.g. I know the designer of a motor controller and he would start with 120a rated FETs and rate his final product for 100a peak/40a continuous. In ECUs, a 2a driver can probably become a 3a driver, and a 5a driver can probably become an 8a driver without too many issues, as long as the entire ECU isn't loaded this way.
You could also jumper-wire between the two H bridge inputs on the board so they are in sync, then just drive one of them in software (the other micro pins need to be high-impedance/output driver turned off or disconnected)
With external drivers, you have to worry about what happens with the ECU off (all driver outputs go high probably, since they are low-side), how fast the SSRs can switch (so you don't have overlap between the high and low side of a half bridge which would short-circuit), and make sure the software won't switch them on at the wrong time. To be safe, you could build a half-bridge on each side (equivalent to a relay with C connected to motor, NC to ground and NO to batt). Then, you can switch one as a discrete change direction and PWM the other. Setting both off turns the motor off entirely. This is called 'sign magnitude' rectification, and doesn't require you to synchronize 4 outputs from the ECU.
more info:
Sign Magnitude:
http://modularcircuits.tantosonline.com/blog/articles/h-bridge-secrets/sign-magnitude-drive/Locked Anti-Phase (the other option):
http://www.modularcircuits.com/blog/articles/h-bridge-secrets/lock-anti-phase-drive/