Two VPN servers and the same local client IP

My idea is to have clients connected to two VPN servers (different public IP and different types of connections eg OpenVPN, SSTP, …). Therefore, I would not lose connection with clients if something happened to one VPN server. Clients and servers will be RouterOS. I need clients on servers to have the same internal (maybe virtual) IP no matter what server they are connected to. Do you have any idea how to solve this?
VNP topology.png
I know how to set up a client to connect to one VPN server and have a local IP there. Then route these IPs subnets between VPN servers using OSPF, for example. But how do I create one local IP that would access the client, no matter which VPN server is connected?