Simultaneous inventory and angle of arrival (AoA) measurement of UHF RF tags is strongly demanded for item searching in warehouses and offices. Existing high accuracy AoA measurements of RF tags mainly employ a radio comprised of multiple antennas and coherent receivers to produce synchronized multiple IQ streams. Such radio is usually realized as a dedicated hardware and software, which is not suitable for prototyping new ideas. This paper proposes a method to realize simultaneous inventory and AoA measurement with multiple commodity software defined radios (SDRs). In the proposal, the cancellation of mutual phase offsets, an well known problem of multiple commodity SDRs, is done by physically switching the combination of receiving antennas and receivers with an external RF switch and subtracting the two phase differences. This way, the calibration before AoA measurement can be done during the process of phase measurement with no human intervention. The antenna switching is integrated into a SDR Gen2 interrogator developed on a dual RF-ports USRP. The external RF switch is synchronously controlled with Gen2 inventory progress using Gen2 protocol features called action and target. The accuracy of phase offset cancellation was evaluated with wired and wireless experiments with commercial Gen2 RF tags. The experiments revealed that AoA measurement can be simultaneously performed with Gen2 inventory without any intervention achieving less than 3 degree of phase offset cancellation error.