Define your servers in a group
NOTE: In IOS-XE, depending on your configuration, you may need to define a VRF to use for RADIUS traffic.
aaa group server radius AuthSrvs
server name Auth-1
server name Auth-2
-OR-
aaa group server radius AuthSrvs
server name Auth-1
server name Auth-2
ip vrf forwarding Mgmt-vrf
Build each auth server's config
radius server Auth-1
address ipv4 192.168.55.1 auth-port 1645 acct-port 1646
timeout 2
retransmit 2
key *****************
radius server Auth-2
address ipv4 192.168.55.2 auth-port 1645 acct-port 1646
timeout 2
retransmit 2
key *****************
Define the authentication process
aaa authentication login default group AuthSrvs local enable
Define the authorization process
aaa authorization exec default group AuthSrvs local if-authenticated
Optionally, set network services to still use the local database
aaa authorization network default local