I mean you can use two Hopper Upgrades for that with two different filters. Or if the targets are sophisticated storage blocks you can just lock them and set them to item and then have hopper to push in both directions. The locked will allow just the items they already have or have memorized.

minus = you have backpack on hand and can right click to store the item with minus in that backpack
plus = you have an item on hand and backpacks show plus basically telling you the item can be stored in them (green + sign when they already have the item, yellow when they don't have it yet)