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I believe the way you have multiple hardware interfaces is just to have multiple ros2_control tags like so:

<ros2_control name="RealRobot" type="system">
   <hardware>
       <plugin>steering_hardware/SteeringHardware</plugin>
   </hardware>
   <joint name="steering_joint">
       <command_interface name="position"/>
       <state_interface name="velocity"/>
       <state_interface name="position"/>
   </joint>
</ros2_control>

<ros2_control name="RealRobot" type="system">
   <hardware>
       <plugin>wing_hardware/WingHardware</plugin>
   </hardware>
   <joint name="wing_joint">
       <command_interface name="velocity"/>
       <state_interface name="velocity"/>
       <state_interface name="position"/>
   </joint>
</ros2_control>

This works for me, but if anybody sees an issue with this, please comment.

I believe the way you have multiple hardware interfaces is just to have multiple ros2_control tags like so:

<ros2_control name="RealRobot" name="SteeringHarware" type="system">
   <hardware>
       <plugin>steering_hardware/SteeringHardware</plugin>
   </hardware>
   <joint name="steering_joint">
       <command_interface name="position"/>
       <state_interface name="velocity"/>
       <state_interface name="position"/>
   </joint>
</ros2_control>

<ros2_control name="RealRobot" name="WingHarware" type="system">
   <hardware>
       <plugin>wing_hardware/WingHardware</plugin>
   </hardware>
   <joint name="wing_joint">
       <command_interface name="velocity"/>
       <state_interface name="velocity"/>
       <state_interface name="position"/>
   </joint>
</ros2_control>

This works for me, but if anybody sees an issue with this, please comment. comment.