Get URL of SchedulingPublisher

I am running Umbraco in a load-balanced setup.
Everything runs behind an Azure Front Door, and the origins can change from time to time.

I want to create an API controller that will provide the URL of the SchedulingPublisher within the setup.
I know that registered servers are stored in the “umbracoServer” database table, but I am not sure how to access them. Is there a service that would enable me to do that?