Amanda,
It's always challenging talking about HA because there are multiple aspects of availability and the term is often used to describe any, some, or all of those aspects. In the scenario you described, the Message Brokers are highly available, therefore "HA" for new incoming traffic across either HTTP (due to the Load Balancing). Any particular HTTP transaction in-flight when a Broker fails will time-out and be the client's problem to handle. This is typical for HTTP transactions where a time out is always a possibility and so this is usually acceptable in terms of the business requirements for HA.
It's not clear to me from your description how your Brokers are using MQ. Are multiple Brokers reading from the same queue? I would assume so. In this case, again for new inbound traffic, the loss of a Broker will not stop messages from being processed because other Brokers will be reading from the queue. this assumes, of course, that the Queue is opened with the "Share" option. In this design, any message being processed when a Broker fails will be in the middle of an uncommitted Unit of Work. Therefore, that message will be locked until either committed or rolled-back by the Broker. Hence it cannot be processed until the Broker that failed is brought back online. This is the small, but real, value that a Multi-Instance Broker can provide. Or simply put the broker in a Docker container for "baked in" multi-instance.
The processing described above may, or may not, meet your business requirements for "HA".
Regards,
Glen Brumbaugh