Solar Tracking Systems are useful to increase the generation efficiency of photovoltaic technology, mainly for concentration technology, where dual-axis is required on account of the high accurate alignment to the Sun. Even when there exists a strong relation between tracking error and energy efficiency, multiple technological and research developments have sought to solve these problems independently. The present research proposes a novel concurrent design methodology for optimizing the overall performance of two-axis trackers, allowing to keep a balance between the tracking error and the energy consumption from the design stage, from an optimization approach. The concurrent approach was implemented to design a Solar Tracker as a solar monitoring system, was compared with four commercial systems, obtaining a similar pointing accuracy with a mixed tracking error of ${0.0942}^{°}$. The system has the best energy balance, consuming only $0.9641\%$ of the energy generated for the tracking action, below commercial models. Finally, a CO${}_2$ impact analysis was carried out, where the proposed tracker obtained the lowest value, with $25.7018$ g. The results support the developed concurrent strategy for the optimization of the overall performance of dual-axis systems, allowing us to find a harmonic balance between the energy consumption and the required tracking accuracy.