Is it possible? Yes. However, ITPAM does not certify or support Hardware Load Balancers like an F5. This type of configuration would be handled by an Administrator on your end.
In my limited experience, at least with F5 load balancers it is configuration intensive on the side of the Hardware Load Balancer and not so much ITPAM. I believe you need to create a DNS alias and F5 name (ie., pam-orchestrator). Then a HOST file entry on each host that maps the alias to the IP address. I do not have any detailed information on this topic. Once again, hardware load balancers with ITPAM are not supported. I would recommend Apache and the technical document you mentioned. TEC560873 "Clustering an ITPAM 3.1 Orchestrator for scalability and high availability".
Thank you.