HaProxy Ingress Controller (DaemonSet Vs.StatefulSet)

I have a Kubernetes Cluster with HaProxy Load Balancer and Ingress Controller.

On Servers I could just add/remove a configs to the haproxy.cfg then reload/restart the haproxy service

However, in kubernetes I’ve had to redeploy haproxy when changes had to be done to a Pod(s) then redeploy those pods again to update haproxy to point traffic there. Is there an easier way to redeploy or update haproxy without taking down and redeploying Pods every time?