WAPs find their ADFS servers (or rather its associated farm) using DNS by resolving the FQDN of the ADFS farm it is attached to.
The WAP are not aware of how many ADFS servers there are. The WAP connect to the ADFS farm by simply resolving the FQDN of the ADFS farm (that you entered when you set up the WAP). Like an clients using ADFS would do.
Let's say the ADFS farm is sts.contoso.com.
Internally, clients resolve that name to 10.0.0.1 which is in fact your load-balancer (if you have any in front of your ADFS, I say "if you have any" because you don't mention it in your message, but I am guessing you have one if you use 4 ADFS servers).
Externally, clients resolve that name to 1.2.3.4 which the IP of your F5.
WAP servers also need to connect to the farm. You can make they use your internal DNS and they will end up on 10.0.0.1. Or you could "hardcode" them to a specific node by creating an entry on their HOSTS file making sts.contoso.com point to the IP of the ADFS node you wish.