Thanks for the help! For posterity, here is the moral equivalent of
the relayd.conf that is working for me:

table <httpd> { 127.0.0.1 }
table <app1> { 127.0.0.1 }

http protocol "https" {
    tls { keypair "example.com" }
    match request header "Host" value "app1.example.com" \
        forward to <app1>
}

# Terminate tls and proxy to httpd
relay "tlsproxy" {
    listen on egress port 443 tls
    protocol "https"
    forward to <httpd> port 8000
    forward to <app1> port 9991
}

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