quick skimming of the 3 books:
Koenker has the cov_params when several quantiles are estimated section 3.2 and .3.3 (I have not looked at ch.4)
Hao & Naiman (2007) AFAICS, they only have bootstrap for the 2-quantile case, no asymptotic cov_params
Davino et al. (2013) I don't see anything that would provide details for 2-quantile case
Based on a very brief look at cov_params across quantiles in Koenker.
AFAICS, we already have the required local kernel density estimates, but still need to get the covariance between quantiles using the individual kde.
(cov_params has a kronecker product a bit similar to multivariate regression with identical exog)
It does not look too bad but requires work.
Josef