Thank You so much for the reply. This thread was very informative : https://github.com/appium/appium/issues/4622.2k
It sounds like you can spawn multiple Appium servers on different ports connected to different devices, then have multiple capabilities in our test scripts for each device.
If I want multiple test commands running on various devices at once, I can just multi-thread them. Sounds plausible.
Thanks for the heads up!