A system for forming overlay tunnels for delivery of data between networked devices, comprising: a first network device intermediary to a client and a server, the first network device configured to: transmit, responsive to a connection request from the client to establish a connection between the client and the server, a request to a second network device intermediary to the client and the server, the request having a first source IP address corresponding to a virtual IP address of the first network device, a first destination IP address corresponding to an IP address of the server, and a first payload including first security hash information to be processed by the second network device; receive, from the second network device, a response to the request, the response having second security hash information, a second source IP address corresponding to the IP address of the server, a second destination IP address corresponding to an IP address of the client, and a second payload including a virtual IP address of the second network device, responsive to the second security hash information corresponding to the first security hash information included in the first payload; establish, responsive to the receipt of the response from the second network device indicating that the second security hash information corresponds to the first security hash information, an overlay tunnel between the first network device and the second network device using the virtual IP address of the first network device and the virtual IP address of the second network device; and direct data from the client to the overlay tunnel established between the first network device and the second network device to transmit to the server. transmit, responsive to a connection request from the client to establish a connection between the client and the server, a request to a second network device intermediary to the client and the server, the request having a first source IP address corresponding to a virtual IP address of the first network device, a first destination IP address corresponding to an IP address of the server, and a first payload including first security hash information to be processed by the second network device; receive, from the second network device, a response to the request, the response having second security hash information, a second source IP address corresponding to the IP address of the server, a second destination IP address corresponding to an IP address of the client, and a second payload including a virtual IP address of the second network device, responsive to the second security hash information corresponding to the first security hash information included in the first payload; establish, responsive to the receipt of the response from the second network device indicating that the second security hash information corresponds to the first security hash information, an overlay tunnel between the first network device and the second network device using the virtual IP address of the first network device and the virtual IP address of the second network device; and direct data from the client to the overlay tunnel established between the first network device and the second network device to transmit to the server.