Just mail the two 2019 Form 8606s to the specified address. They can be standalone forms; just sign yours at the bottom and have your spouse sign theirs at the bottom, and of course also make sure your name, SSN, and address are at the top of page 1.
You do not need to file a 1040X. You can send yours and your spouses together. I would not pay the $50 penalty ahead of time; if the IRS bills you for it (doubtful) then I would pay it then.
I would mail the 2019 Form 8606s now and then go ahead and file your 2020 Form 1040 with 2020's information on it, some of which of course may come from your 2019 Form 8606s. I would not worry about waiting to make sure they receive the 2019 8606s first.