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TPS543C20: RSP/RSN Kelvin sensing

Part Number: TPS543C20

It says in the datasheet that the TPS543C20 RSP/RSN sensing lines should be routed differentially in a kelvin sensing fashion. Is there a requirement for a 4 terminal configuration at the output load capacitance or is it sufficient to tap RSP/RSN off the VOUT and GND at the load? As well, is there any matching need between the two traces?