Let $G$ be a graph with vertices $a$ and $b$ and let $X \subseteq V(G) \setminus \{a, b\}$ be an $ab$ separator. Let $C_a, C_b$ be the components containing $a$ and $b$ respectively in $G - X$.
Let $X'$ be another separator with $C'_a, C'_b$ defined similarly. We need to show that both $$Y_a = (X \cap C'_a) \cup (X \cap X') \cup (X' \cap C_a)$$ $$Y_b = (X \cap C'_b) \cup (X \cap X') \cup (X' \cap C_b)$$
are separators of $G$. This seems pretty obvious from this diagram: 
Although, I haven't been able to prove it formally. Also, are these separators minimal if $X, X'$ are minimal?
To show that $Y_a$ is a separator, consider an arbitrary path from $a$ to $b$.
Let $v$ be the first vertex of $X \cup X'$ we encounter along the path (starting from $a$). There are three cases:
So either way, our path contains a vertex of $Y_a$, and we are done. (The set $Y_b$ is a separator by the same argument, if we switch the roles of $a$ and $b$.)
For an example where neither $Y_a$ nor $Y_b$ are minimal, even though both $X$ and $X'$ are, consider the graph below, with $X$ and $X'$ circled in red and blue.