Yes, you can manage one vDP from two node vSZ cluster without any issues.
vDP will connect to one of the vSZ-H nodes and in case of failure on that vSZ-H node, vDP will switch to second vSZ-H node.
In this setup, your APs will be managed by two vSZ-H (balanced between two nodes) but data tunnel of all the APs will connect to same vDP, as you have only one vDP.
In case of vDP failure, there will be no redundancy, so it is a good idea to have at least two vDP nodes for redundancy purpose.
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