There are a couple different ways I can think you might be able to do this. As for best practice. It depends on what your resources are and how critical it is to you. I'd say a centralized, load balanced (R Studio Server, SQL Server 2016+, etc) would be a best practice scenario.
1. Docker
Here you can create a core environment that will be identical between both systems. This ensures that the environment stays the same and there are no changes between them. Check out the following tutorial.
2. Versioned R Script
You could write a script that will check / download to ensure the right packages have been setup at least at every startup. Following link will give you an idea on where to do here.
3. Controlled Package Environment w/ Versioned R Script
You could use RStudio's new Package manager, configure the install repository to the package manager and then eliminate any other repositories. That way any script will be installed from a particular regulated source.
4. RStudio Server
Centralized computation is never a bad thing, especially if you have the budget for it.
Hope that helps!