Can you restrict URL access to certain AD users?

This isn't possible with standalone LTM module. You would need to have APM module, where you can enable login page and MFA/AD auth for the admin URL, run AD query to check if user is part of particular AD group and then action of allow or deny.

Other possible solution with LTM could be -

1) Use basic auth iRule on LTM with locally created username/password in the data group.

Reference- https://devcentral.f5.com/s/feed/0D51T00006pZh6iSAC

2) to reject the access from the internet for ANY and allow access only from the internal network range and for more security allow access ONLY from the jump server used by application admins.