Found the solution, posted it on the thread I started 
(https://groups.google.com/forum/?fromgroups=#!topic/foreman-users/OeOvX_IBkcw):

Foreman uses a few tokens to encrypt things. There are two important ones 
when building a cluster of Foreman servers:
- $foreman_home/config/initializers/encryption_key.rb - this is for 
encrypting/decrypting passwords in the DB. This wasn't my issue.
- $foreman_home/tmp/secret_token.rb - this is used to sign any cookies, and 
this *was* my issue. Changing that to have the same key across all my 
servers seems to have fixed the issue.

On Tuesday, May 10, 2016 at 2:10:42 AM UTC-4, Chris Baldwin wrote:
>
> Did you guys ever find a solution to this?
>
> On Friday, November 6, 2015 at 2:20:56 PM UTC-5, Christopher Pisano wrote:
>>
>> Hey Matt. I started seeing this when I added a third node to my Foreman 
>> cluster behind my load balancer. When doing further research it looks as if 
>> the third node doesn't get a session_id when requests are sent to it thus 
>> bringing you to the login screen. When trying to log back in I get the same 
>> error you do. I think the root problem is the third node not getting the 
>> session_id (in my case) but I don't know how to fix it.
>>
>> On Thursday, August 27, 2015 at 5:27:00 AM UTC-4, Matt Jarvis wrote:
>>>
>>> Hello all, 
>>>
>>> We're trying to build out an HA Foreman platform, with two Foreman 
>>> servers behind HAProxy, using a shared database with an external DNS name 
>>> that points to the HAProxy endpoint. This is all HTTPS. I've installed the 
>>> Foreman memcache plugin, with a memcached instance running on each Foreman 
>>> server, but when I try to login using the external DNS name ie. via the 
>>> load balancer, I get ERF42-4995 [Foreman::Exception]: Invalid 
>>> authenticity token with WARNING: Can't verify CSRF token authenticity 
>>> in the logs. Logging in via either of the two Foreman servers directly 
>>> works fine. The configuration in foreman_memcache.yaml looks like :
>>>
>>> :memcache:
>>>   :hosts:
>>>     - foreman0.core.sal01.datacentred.co.uk
>>>     - foreman1.core.sal01.datacentred.co.uk
>>>   :options:
>>>     :namespace: foreman
>>>     :expires_in: 86400
>>>     :compress: true
>>>
>>> Logging in via the loadbalancer works correctly without the memcache 
>>> plugin running. 
>>>
>>> Any ideas what could be going wrong here ? 
>>>
>>>

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