We study $R^2$-Higgs inflation in a model with two Higgs doublets. The context is the general two Higgs doublet model where the Higgs sector of the Standard Model is extended by an additional Higgs doublet. We first discuss the required inflationary dynamics in this two Higgs doublet model, which includes four scalar fields, in the covariant formalism allowing a nonminimal coupling between the Higgs-squared and the Ricci scalar $R$, as well as the $R^2$ term. We find that the parameter space favored by $R^2$-Higgs inflation requires nearly degenerate $m_mathsf{H}$, $m_A$ and $m_{mathsf{H}^pm}$, where $mathsf{H}$, $A$, and $mathsf{H}^pm$ are the extra CP even, CP odd, and charged Higgs bosons in the general two Higgs doublet model taking renormalization group evolutions of the parameters into account. Discovery of such heavy scalars at the Large Hadron Collider are possible if they are in the sub-TeV mass range. Indirect evidences may also emerge at the LHCb and Belle-II experiments, however, to probe the quasi degenerate mass spectra one would likely require future lepton colliders such as the International Linear Collider and the Future Circular Collider.
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