I think you want something like Envoy in the middle to actually terminate TLS (you can still use TLS to talk to the backends, of course) and do the load balancing. Having one backend handle one HTTP/2 connection does not necessarily balance load, anyway. With Envoy in the middle, you can again load-balance requests as though they were independent connections; if a browser has an HTTP/2 connection open that wants 10 expensive things, Envoy can use 10 backends to handle that request, rather than sending 10 expensive requests to 1 backend.
The statistics and traces you get for free are also very worthwhile, not to mention more advanced things like automatic retries, canarying, outlier detection, circuit breaking, etc.