If extreme mechanical strength is not needed, just SMD pads on top layer as close to the edge as PCB manufacturer lets you, then best case you can just drag solder them together, worst case you need to place short pieces of wire, which is not a problem but takes a few seconds per pin more.
I prefer 1.27mm pitch so that standard ribbon cable can be used. You can strip tens of wires in one go with wide side cutters or crafting knife. Strip only a few mm; then you don't need to twist the wires but can very quickly tin them by dragging with large iron tip. Soldering them to 1.27mm pitched PCB pads is very quick, too. But in your case, if you want the boards right next to each other, no cable is necessary. Any random short piece of wire or clipped component lead allows solder bridging.
But, also consider just making the small 4-layer control board on top, not next to the other board. That way you can use standard pin headers (which also comes in 2.00 and 1.27mm pitches if 2.54mm wastes too much space.)