By default HAProxy resolves all DNS names in it’s config on startup and then never again.
This might cause issues down the road if DNS records, for example the ones for backends, change.
This section of the documentation is a good starting point as it describes IP address resolution using DNS in HAProy really well: https://docs.haproxy.org/3.0/configuration.html#5.3
Additionally this guide can also be helpful: https://www.haproxy.com/documentation/haproxy-configuration-tutorials/dns-resolution/