The Kafka protocol is going to pick the first server in the list to bootstrap. If it can't access that server for some reason it will move onto the second server. If you have a cluster that is shared across two (or more) brokers then this will work as is.
If you're asking to read from two separate clusters simultaneously; the Kafka protocol does not support this. You would need two separate Kafka Consumers for this. It's essentially the same as reading from two separate topics.