The short answer: if your panels are the same type/brand (or same wattage and very similar Vmax), connect in series up to what your MPPT controller can handle. I have four 100W 19Vmax panels - 76V - on my 100/30 Vic, which can handle up to 100V input. Some controllers are limited to 30V or 50V.
Your panel voltage will vary by about 2V to 4V depending on how much sun and how much current you are asking the panel to supply.
The higher voltage from two panels in series does not pull more current out of the panels - but the higher voltage (38V instead of 19V - it varies by a few volts) means that the voltage is always more than 5V above your battery voltage and the MPPT controller will always be adjusting the voltage (up and down) to get the most watts (current X voltage). The MPPT controller actually sets the output voltage of the panels to get the maximum watts.
You can see this with your AGM batteries. Charged and with almost no load, they should be about 12.6V. Now add load by turning on the overhead fan and the furnace (about 7A) and watch the battery voltage drop. The amount of current drawn out of the batteries changes the battery voltage. The MPPT, by controlling the current drawn out of the panels changes the panel voltage. What's different about solar panels is that the change is non linear. Lets say, for the same amount of sun, your two panels in series are producing 40V at 5A. That's 200W charging your battery at 14V X 14.29A. (The MPPT takes in whatever voltage and current the panels supply and outputs what is needed for the battery.) But if the MPPT finds (generally by trial and error with small changes) that if it lets 5.4A flow from your panel, the panel voltage will drop to 39V. 39V X 5.4A is 210.6W. Your MPPT just got you an additional 10.6W so your battery will now charge a bit faster at 14V and 15.04A. As the amount of energy from the sun coming into your panels changes, this sweet spot changes. Your MPPT is always hunting for it when the panel voltage is 5V more than what is needed to charge the battery or meet your load.