With Bobby’s help at tech support, we got this issue solved. On the second server, under Data Connection settings in FSQL. We added a connection to the master database and then enabled redundancy. Once I clicked ok, the option came up to connect to master and the project loaded.
To confirm this, I went to connection -> system status -> Redundancy and there I can see both nodes in the status table.
However I am noticing now that I can only be connected to the project on a single server through the frontend at a time. I am guessing this is expected?