>> SEO: if your content exists at two (or more!) distinct URL endpoints, it is a SEO no-no. […] You need redirects.
> Or you could just only serve it from one of the two URLs and let the other 404.
That's not a good idea. The URL you are choosing to remove may have built up some link equity, which you will lose if you 404 it. Instead of 404ing it, 301 redirect to the surviving URL. This allows search engines to consolidate equity from both URLs into one.