How kubernetes external ip multi-pod routing works?
Set externalTrafficPolicy: Local in the NodePort Service.
This will make it so that traffic going to a node X will only go to the pod in node X. If there is no pod in node X the traffic will be dropped (but this should not be an issue since you're using a DaemonSet).
Another benefit is that this preserves the true source IP that haproxy sees. Without externalTrafficPolicy, it is possible that haproxy sees the source IP of another node instead of the original one, since nodes can proxy traffic.
More info here