Symptoms:
UDP load-balancing is not supported when using HA Proxy topology for vSphere with Tanzu.
VMware vSphere 7.0 with Tanzu
HA Proxy does not support UDP load-balancing and only supports UDP traffic for Syslog this is noted in the upstream HA Proxy documentation and issues:
If you require UDP load balancing traffic, then you can deploy a vSphere with Tanzu topology that supports UDP load-balancing like Avi/NSX Advanced Load balancer or NSX-T deployments.
Configuring vSphere Networking and NSX Advanced Load Balancer for vSphere with Tanzu