I've searched through the armv7-m manual and SoC datasheets regarding CP10 and CP11 for enabling floating point, and all of them say essentially the same thing:
The system must enable access to CP10 and CP11 in the CPACR before software can access the FPextension system register,
and
If the access control bits are programmed differently for CP10 and CP11, operation of floating-pointfeatures is UNPREDICTABLE.
If both coprocessors must be identically programmed, what is the point of having two separate ones? I haven't found any information or cases in which the two would be programmed differently, so why not just have one?
I believe the reason is to keep software compatibility from when VFP was a true co-processor.