Rac and Cdc42 are Rho GTPases which regulate the formation of lamellipoda and filopodia and are therefore crucial in cellular processes such as cell migration. Both Rho GTPases are active at the leading edge of migrating cells. However, it is unclear how their signaling patterns differ from each other and what their specific roles are. To live image their signaling with high spatial and temporal resolution, location-based biosensors (relocating to the native location of the endogenous active Rho GTPase) are attractive probes. Until now, Rac and Cdc42 relocation sensors have not been characterized well, especially in terms of their specificity for the Rho GTPases. In this study, we identify a number of relocation sensor candidates for either Rac or Cdc42. We compared their (i) ability to bind the constitutively active Rho GTPases, (ii) specificity for Rac and Cdc42 and (iii) relocation efficiency in cell-based assays. Subsequently, the relocation efficiency was improved by a multi-domain approach. For Rac1 we found a sensor candidate with low relocation efficiency. For Cdc42 we found several sensors with sufficient relocation efficiency and specificity. These optimized sensors enable the wider application of Rho GTPase relocation sensors, which was showcased by the detection of local endogenous Cdc42 activity in a spreading endothelial cell and a multiplexing experiment with Rho and a Cdc42 relocation sensors. Moreover, we tested several fluorescent proteins and a HaloTag for their influence on the recruitment efficiency of the Rho location senor, to find optimal conditions for the multiplexing experiment. The characterization and optimization of relocation sensors will broaden their application and acceptance in the field of biosensors.