The Policy Server (Runtime Component) does not automatically fail over.
You have to explicitly promote the secondary master (in your scenario) in the cluster to be primary master for High Availability to be achieved:
https://www.ibm.com/docs/en/sva/10.0.8?topic=support-high-availability-policy-server
If you promote the secondary appliance to primary master you should see the authentication mechanism become available again.
The Reverse Proxy instance itself is able to run without the Policy Server being up and running, it has a local copy of the security policy and authenticates directly to the configured LDAP server. The issue is that if you have a local runtime component and use a local user registry as well that user registry is then tied to the runtime component. It's replicated through a cluster that replicates the runtime component but the other nodes have a read only copy, so when you authenticate it requires that you be able to contact those nodes.
Again, promoting the secondary master to cluster primary master would resolve this condition.