Script to collect urls

You could create a policy using automatic learning mode and then run this free crawler:

https://www.httrack.com/

Also use Trusted IP and trigger the crawler from the computer with the trusted IP, so that the F5 learns things fast. If the site has authentication you may need a vunravility scanner like qualys that supports authenticaion with credentials or ssl cert.

https://techdocs.f5.com/kb/en-us/products/big-ip_asm/manuals/product/asm-implementations-13-0-0/9.html

https://qualysguard.qg2.apps.qualys.com/portal-help/en/was/scans/web_crawling_and_link_discovery.htm