For ASA failover you can do a LAN based failover in which one ethernet interface in both the devices will be used to share stateful failover information and one ethernet interface on both will be used as LAN failover interfaces. When you have configured failover properly and do a "write mem" on Active unit, the config will get replicated on the other unit as well so there will be no need to copy the config manually to the other unit. Following links may help you