Yes, as long as the cDAQ and cRIO chassis are both TSN (Time Sensitive Networks) sync enabled. It is important to notice that multidevice tasks which include a cRIO are only supported between one cRIO and a network of cDAQ's and/or FieldDAQ's, that is, multidevice tasks are not supported between two or more cRIO chassis. See Additional Information for more resources on TSN.
These chassis can be put on the same task using channel expansion over multiple chassis, as seen in Figure 3 of the How to Achieve High-Accuracy Measurements With NI-DAQmx-Based TSN Devices
white paper. If your system has DSA (Delta Sigma Analog-to-Digital converter) modules, your code will require post-process resampling
for accurate synchronization.