If you're good with working out designs from schematics (or just want to learn to do that), the are various examples of commercial systems that did this reliably.
One, as BDD mentioned above, are some of the Commodore floppy drive subsystems. You might start with
retroabandon/cbm:dos-1.0/ where I have collected some of the documentation and ROMs for the 2040/3040/4040 series, along with references to further sources. That's also got a start on the disassembly of the ROMs if you want to work out what's going on on the software side.
Another is the
Fujitsu FM-7, which had a 6809 "main" CPU that talked to a second 6809 "sub" CPU that handled graphics and a few other things. These communicated through a 256-byte area of shared memory; the schematics are fairly clear about how all this worked. (Note that, though the processor is different, the 6502 uses essentially the same bus and timing systems that Motorola used.)