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Hello, so I just solved the same problem without using maps.
I have some machine ip X.X.X.X listening on 443 running nginx and doing the ssl.
For me it worked tweeking some of the option while creating the haproxy configurations:

• created real server pointing to 443 (I tried to port 80 and was not working even if nginx was supose to redirect to 443
• add a backend pool -> mode tcp layer 4 -> select your Real Server in the Server option 
•   rules -> conditions -> add a new rule with condition type "SNI TLS extension matches (TCP Request inspection)"     contains also works if you need it in some case
•   rules -> rules -> select the condition and the backend pool previously configured
• finally add to ur rule to the public SNI_fronted

Hope this helps