Hi, you can do this with HA Groups to make a device 'preempt' (think Cisco HSRP) and become active again.
The trick would be to ensure that the preferred active device has a higher 'Active Bonus' value than the other, less preferred device. This way, when the preferred device comes online again, it will calculate a higher score and be promoted to active.
Please see the following link for further information:
https://support.f5.com/kb/en-us/products/big-ip_ltm/manuals/product/tmos-redundant-systems-config-11-2-0/8.html
Please note however that if you have a problem with the preferred device - you may experience a failover-failback loop - This is why the default HA configuration doesn't automatically promote the recently failed device back to active.