I think two very different things are being confused here.
The link you posted explains different ways to have an HA kubernetes control plane (i.e. etcd and kube-api, kube-controller-manager, etc.). That is basically having HA on the Masters/controllers.
That has nothing to do with a pod being scheduled to another node if a worker node fails. Because this is about workers nodes, and the other is about the controllers.
If I understand correctly, you want a pod running on a worker node to be scheduled to another node if the node that it was running fails. Is this correct?
If that is the case, the link has nothing to do. The link is about the controllers. Ignore it for this.
If that is correct, too, this is probably the case already (no effort required on your side). If that pod is created with a kubernetes resource “kind: deployment”, kubernetes will guarantee that (note that it may take some time to detect a node being down) as long as there is enough capacity in the other nodes.