Conventional heterodyne readout schemes are now under reconsideration due to the realization of techniques to evade its inherent 3 dB signal-to-noise penalty. The application of high-frequency, quadratureentangled, two-mode squeezed states can further improve the readout sensitivity of audio-band signals. In this Letter, we experimentally demonstrate quantum-enhanced heterodyne readout of two spatially distinct interferometers with direct optical signal combination, circumventing the 3 dB heterodyne signal-to-noise penalty. Applying a high-frequency, quadrature-entangled, two-mode squeezed state, we show further signalto-noise improvement of an injected audio band signal of 3.5 dB. This technique is applicable for quantumlimited high-precision experiments, with application to searches for quantum gravity, searches for dark matter, gravitational wave detection, and wavelength-multiplexed quantum communication.