I spoke too soon, it's still not working 100% of the time.
When the backup-pfsense is entering MASTER-status, not all of the time Radius gets started correctly, sometimes I see the following in the Radius-logfile, right afster started it gets stopped again:
Mon Apr 15 14:16:21 2019 : Info: Ready to process requests
Mon Apr 15 14:16:21 2019 : Info: Signalled to terminate
Mon Apr 15 14:16:21 2019 : Info: Exiting normally