You would need a double pole double throw 12volt relay rated for 30 amps(that's the fuel pump rating)
That is for fuel pump power and fuel gauge.
Double pole means it has two separate 'relays' inside
Double throw means it passes power/signal one way when off and another way when on.
It will have 8 connections
2 to active the relay, 12v and ground(for switch on dash, should be fused(5 amp is plenty) and only on when key is)
1 for fuel pump power IN(from inertia switch)
1 N/C(normally closed) power OUT to main tank
1 N/O(normally open) power OUT to Aux tank
1 for Fuel gauge signal OUT, goes to gauge.
1 N/C signal in from main tank
1 N/O signal in from Aux tank
When relay is off(N/C) power goes to Main pump, and fuel sender in Main tank is connected to gauge.
When relay is on power goes to Aux Pump, and fuel sender in Aux tank is connected to gauge.
The output of both fuel pumps will go to a simple "Y" adapter(or "T" if you prefer) and into the fuel filter.
The reason you don't need a switch here is because these Ford high pressure pumps have a check valve(back flow preventer) so fuel won't flow backwards into the other tank no matter which pump is on.
The check valve is there to prevent fuel pressure loss when key is off.
This does need to use high pressure, 40+psi, hose connectors.
The return line will need a switch, 3 port valve also activated by 12volts when the relay is.
This is the low pressure side, so universal dual tank 3 port switch will work.
The main wiring for fuel pump and gauge sender is in the drivers side frame rail, I would build a weather proof box to mount the relay in.
Or if you want you can wire everything to the passenger foot well, that's where the inertia switch is, and the sender wire may pass thru there as well.
Fuel pump power is pink/black wire
Fuel gauge wire is yellow/white