How we can publish multiple applications/URLs on same VIP & redirect traffic to Same application server , but to different ports based on host header ?

First you create a new pool that contains the same application server but points to the new port.

Then you create a ltm-policy (Local Traffic / Policies) which basically is a rule-set that you can apply on the virtual server. In this policy you create Conditions and actions, and in your case it should be something like:

1. HTTP Host is "xyz.com" --> Forward traffic to pool App01-9000
2. HTTP Host is "abc.com" --> Forward traffic to pool App01-9010

You then attach the policy to the VIP in the Resources tab on the actual vip.