redirect to other url based on sni extension server name

Try something below iRule, which may help you.

when HTTP_REQUEST { 
   log local0.info "SNI name: [SSL::sni name]"
    if { [SSL::sni name] eq "www.yahoo.com" } {
        HTTP::respond 301 Location "https://www.example.com[HTTP::uri]" 
    } 
}

Reference article : https://clouddocs.f5.com/api/irules/SSL__sni.html

I have tried that but the SSL::sni name empty.

I have tried using policies but the polices cannot detected the sni server name

Then you need to check the F5 configurations. Can you capture the packet and see if you are getting Server Name Indication in tcpdump packet.