Let's approach this bit by bit.
"A registered server can support multiple server endpoints. However, a sync group can only have one server endpoint per registered server at any time. Other server endpoints within the sync group must be on different registered servers.
- Multiple server endpoints can exist on the same volume if their namespaces are not overlapping (for example, F:\sync1 and F:\sync2) and each endpoint synced to a unique sync group."
They can all be registered to a single Sync service.
Have a look at the mapping table template.
I can look at standing up a demo environment, it's been a few years since I setup AFS.
I would have a sync group, for each drive (ie Data etc).