Locate:    
guide_angle = (guide_angle + 1.17); }     //Move the guide +1.17 degree for 1.75mm filament
Change it to:
guide_angle = (guide_angle + 1.17);
    digitalWrite(A4, HIGH);   //Activate Guide Motor because spool has rotated
    delay (2000);             //Adjust delay to make motor move less or more per spool rotation
    digitalWrite(A4, LOW);    //Stop Guide Motor
    }     //Move the guide +1.17 degree for 1.75mm filament

I now want to simplify the design somewhat. 4 relays to deal with is little too much but its working like a charm especially after making it trigger at the servo part of the code.
Here is what it looks like.

No more SERVO crap.

Also changed firmware slightly, so it will not constantly trigger for no reason.
if (thisspeed<30) {digitalWrite(A4, LOW);} //added line
if (thisspeed>30) {digitalWrite(A4, HIGH);} //added line
These two lines will make it work as expected.
Constant triggering was caused by minimumPullerSpeed 20. It means motor was constantly engaging.
Instead of making it 0, i added condition

You siad: "use the original single module It uses a latching relay" thats not true in my case. It seems to work exactly the same way as the 2 channel relay.
For that reason i ordered a relay that toggles position by momentary switch instead of triggering position by momentary switch.
I need self locking relay. That kind of relay cost 2-3 times the normal. About $7 piece vs $3 (talking about US ebay prices)
Those relays have ECU on board that allows that behavior. Anything else is a no go.

I have 2 5v relays.
Same problem.
They dont toggle. They switch back as soon as you let go the switch.
Also motor is not powered at all using your diagram. I had to rewire it.
1,6 needed ground and 3,4 12V. 2,5 motor the same.

Now for some reasons arduino nano is dead. It wont reset, it wont flash, it wont work.
Had to order new board.

My question now is: once i get new board, do i just flash it with firmware or i need bootloader 1st ?
I need some step by step for bootloader please.

You may be sinking too much current through the control pin. It is only good for about .25 amps at the most. The board may or may not come with a bootloader. They usually do but depending on the vendor and price there is a chance it may not. The text about on the vendors page should say, or you could just ask the vendor.

In that circuit the motors get power through relay but like you said the buttons have to be pressed to enable the ground for it to work. Again though the latching relays should solve that issue.

Now for some reasons arduino nano is dead. It wont reset, it wont flash, it wont work.
Had to order new board.

My question now is: once i get new board, do i just flash it with firmware or i need bootloader 1st ?
I need some step by step for bootloader please.

Seriously ?
Momentary switches DO NOT toggle reversal, they activate it momentarily.
I need it to be toggled each time its pressed.

I was so excited  thinking: I cant believe i didnt know this ! but then i realzed that i already tried it and posted all the way at the top that its not going to work.

This is why I said to use the original single module It uses a latching relay so it would stay latched till the next switch was hit.  You not only over think but over complicate by trying to put all your eggs or all your parts on one board.

You would need two of course.

I was so excited  thinking: I cant believe i didnt know this ! but then i realzed that i already tried it and posted all the way at the top that its not going to work.

I tried following your diagram.
Pretty sure i did it all right but its not working.
As soon as ground touches the coil, i get short circuit if diodes present.
Without diodes i basically get relay to trigger. I dont understand how grounding the coil through momentary switch would be any different.

Also its kinda hard to follow your diagram with the relay i have. I think i got the pins correct. Correct me if am wrong.

Easier said then done. I am a mechanic, not an electrical engineer like most of you. Some programming experience and basic electrical knowledge got me this far but not far enough to understand your setup with diodes.
Can you, using my picture, give each pin # a description ?
Thank you.
I'd rather use your system them mine. Mine is too complicated as i overthink allot of things in life including this.
This IS a 12V relay by the way.

Do you have two of the single relay modules? The issue is that this double module requires and active low to trigger it while your circuit is designed around an active high. Meaning the dual is switched by ground while the single is switched by power. It would be easier to use the single modules if you have two.

The dual module is designed to be operated by pins of and Arduino. Those pins need to switch to ground instead of power.

Just follow the diagram and use two of the Arduino relays. The blue connector is marked as it needs to be in your image. Just picture the entire module as a relay and  then use my drawing. The ground and 5 volts will hook up to the modules input as you have it now. The only difference in my drawing and you can omit it are the diodes across each relay. Your module has those diodes already.

The below image is a circuit that should allow you to do what you want and needs no logic to control it. Once it is started it should run by it's self. This is for 12 volt relays but there is no reason any other voltage can't be used. Just substitute 12 voltage line for whatever voltage you need.

Are those switches momentary or they have to be pressed/flipped ?
Can you word the process so i can understand it better ?
I am using arduino relay modules.
Thanks !