Diagram looks like some kind of 4 pole contactor type where the coil activates all the contacts at once.
Positioned all 4 NO for UC300 use and NC for arduino.

I'd suggest the most used one of the 2 controls be on the NO side then power the switch to the coil to flip it NC for the other.

Step/Dir could be a problem if the logic I/O flips with contactor switch over could it not?.