Thanks for contacting me. We did mostly static reservations but then it got too much overhead with devices coming online.
And yes, when the backup dhcp answers it registers with unbound on the backup DNS where I can see the entry. but the backup DNS does not sync back to the master, and when there is an update from the master the entry in the backup gets wiped (i think, didn't verify).
I thought I had a solution by blocking dhcp from 0.0.0.0 to lan-address:67 which gets propagated to the backup. and dhcp traffic is only received via the carp address. That seemed to work but then I found a client with which it did not work haven't found why.
The proper way is to turn DDNS and have a separate DNS server to take the registration from either dhcp server. This will also solve one deficiency of pfsense where it can not resolve/access DNS servers on the other side of an ipsec tunnel (if you have branch offices) We had to resort to having a second caching DNS server for that purpose to forward inquiries too.