The solenoids in the pictures are usually used in the 12V circuit to engage the starter on the generator. The relay in the center picture {to the right of the dog} is typically used to switch the AC line from the generator to shore power. As to arcing, it is not unusual for one to observe an arc within relay contacts when switching with a load. The relay as pictured appears to switch both the Line and Neutral side of the load between the AC shore power and the generator. That relay is switched with power from the generator, thus when the 2nd AC is turned on, the voltage drops, the relay buzzes, and the contacts will arc. The pictures with the terminal strips and fuses are all DC circuits.
With one AC running, typically running amps would be 11 to 13 amps. When the 2nd AC is turned on the starting current can easily be 20+ amps. It could be the resistance in the circuit is higher than expected and thus the voltage drop during the increased starting current drops the voltage, thus the current demand goes up. The generator at 5500 watts is capable of 45 amps but this is with resistive load. The starting capacitor on the AC may be old enough that the starting current is higher than normal. Only current measurement at the AC unit will determine this.
The bottom line to this.......... one needs to measure the starting current and running current of each AC unit. Then measure the voltage at the unit during starting and running. If the voltage drop is excessive during starting, likely so running the generator because when it "sees" a voltage drop or current increase the throttle has to open up, feeding more gas, to develop more power. This can be a period of low voltage while the generator catches up with the load. The shore power system has a much higher range of dynamic load as compared to the generator.
It will take some serious diagnostics to identify the issue and not just throw parts at it.