Is there a way to configure the url-redirect with policy?

You can do redirects with policies but I don't believe you can redirect to two locations. Unless you were filtering out some users to send some of them to a specific URL, the LTM policy would redirect to a specified URL. This may be easier with iRules.

Looks like both servers are associated in one pool, if I am correct then no need to redirect it. Let's big-ip to take decession based on method.

If both redirect servers urls are different then F5 can send traffic to only one at a time..