Just run it twice, with “newer” mode (-u or –update flag) plus -t (to copy file modified time), -r (for recursive folders), and -v (for verbose output to see what it is doing):
rsync -rtuv /path/to/dir_a/* /path/to/dir_b
rsync -rtuv /path/to/dir_b/* /path/to/dir_a
This won’t handle deletes, but I’m not sure there is a good solution to that problem with only periodic sync’ing.