After analyzing the possibilities, we have opted for the simplest solution that was not initially considered. Since it is a /23 that both routers will advertise, it doesn't make sense to subnet and create different VLANs on the firewall side.
Instead, we will create a single bond interface, aggregate as many physical interfaces as necessary, and assign an IP from the /29 subnet to this bond interface. This ensures that the same firewall interface will receive the return packets and avoids creating asymmetry.
For routing redundancy, we will configure two default routes and enable ISP redundancy in active/backup mode. For this specific scenario, we believe this is the best option. What do you think?