NFC P2P simultaneous exchange

Hi. I am trying to create a programme that will allow two NFC Shields to send and receive data instantaneously. The programme should work in such a way that the the exchange should occur simultaneously and automatically. (i.e. SHIELD A and SHIELD B will read/write to each other).

However, it seems like most P2P libraries and examples separates the initiatior (P2Pinitiator) and target(P2Ptarget) as well as the send (P2Psend) and receive (P2Preceive) files. Is there any way of having the NFC shield to be programmed as both an initiator and target; and at the same time be the initiator and receiver when in working range and when the device is activated?

The file mentioned can be found here: https://github.com/don/NDEF/tree/master/examples https://github.com/elechouse/nfc-pn532

Thanks!