I like your yaml template idea, but I did end up pushing the logic off into 
my backend.cfg.j2 template:

{% for server in groups['web_servers'] %}
    server                    {{ server }} {{ hostvars[server].ansible_fqdn 
}}:{{ hostvars[server].http_port }} params
{% endfor %}

This is based off my current model where role 'haproxy/common' handles the 
global and default settings and role 'haproxy/web_servers' handles backend, 
frontend and listen settings. This should suffice going forward as long as 
other uses of haproxy get their own 'haproxy/other_backend' roles.

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