I do not claim that this is a good solution but believe that it will accomplish what you ask.
- configure a tacacs server group (perhaps called atelnet) and put one of your tacacs servers into this group
- configure a second tacacs server group (perhaps called assh) and put your other tacacs server into this group
- configure a named authentication method (perhaps called authtelnet) and have it use group atelnet.
- configure a second named authentication method (perhaps called authssh) and have it use group assh.
- configure a group of vty ports to use only telnet.
- configure that group of vty ports to use authentication authtelnet.
- configure the rest of the vty ports to use only ssh.
- configure that group of vty ports to use authentication authssh.
HTH
Rick
HTH
Rick