You can put the same configs in both IPS modules, but the IPS devices don't share state like the firewalls.
So in a failover condition IPS may lose state of open TCP flows and TCP will need to do a reset to correct the problem. This is generally only a problem if you have a long flow such as a FTP file transfer going on. From a user perspective in most cases, you don't even know that you failed over to the secondary IPS occurred. Engineering is currently looking at sharing stateful information between IPS devices.