DNS round-robin with Load balancing and fail-over for webservers

[tullipo]

Hello,

I want to use DNS round-robin to make load balancing over two routers.
Then, each router should forward each request to the same group of web servers also round-robin.
The response will be sent back to the asking router, which will forward the response to the client.
If one router is disconnected, the other router should take over the public IP.

As I understand it, the webservers can only have one gateway. Is it possible to setup fail-over as well, meaning that pfSense1 is primary, pfSense2 is secondary? And that they swap roles whenover the primary goes down?

The yellow on the image is not failover. It is just the internet.