All Dante enabled devices can send and receive audio streams from each other that are on the same network.
However, Preamp control will still be from the RM32 + UC Surface, as both mixers will operate as stand alone units ( No stagebox modes with Dante and with 3rd party mixers ). Check out Audinate's getting started with Dante help section:
https://www.audinate.com/resources/videos/gs0-getting-started-dante-audio-networking-training
You may want to read this paper to understand how it works: https://pae-web.presonusmusic.com/downloads/products/pdf/PreSonus_Brief_Tutorial_on_Dante_Networking1.pdf. It's not just a cable.