but to HAProxy they would return a heathy status and would continue to serve traffic.
No, that's not necessarily true, and it's not true the way we use it. Haproxy allows you to define your health check.
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Do you have it setup to find issues like Anyx's node running an old version? That caused a lot of grief for a few days.
It's not setup that way now, because we use it to check the health of our own hiveminds, and we keep them at least functionally similar at all times (although we run different codes on them simultaneously sometimes, to see how they behave differently, especially when testing optimizations).
There are more advanced things that could be done though, such as having a haxproxy that is distributing its load do cross-checking on the responses from different nodes to API calls that should have the same answers from each node. But I think that's overkill for now.