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A and #A form a pair, B and #B form a pair - those can be routed as twisted pairs, but twisting A with B will risk
crosstalk between the quadrature channels.
Each RS422 pair needs termination at the receiving end, a 120 ohm resistor is a reasonable match to CAT5 or similar cable.
Its best to use a differential receiver (the AM26L32 available: https://uk.farnell.com/texas-instrum...97?st=am26ls32)
For single ended output you can probably get away with a simple resistor divider as you think, using A/GND and B/GND
as twisted pairs, again terminated with about 120 ohms and check the voltages you actually get with a meter are suitable
for 3.3V logic - if not you'll need that receiver chip or at least a dual comparator - differential is the preferred approach.
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