Hi,
I think there is some misunderstanding, Under clients tab > Policies > Communication settings there isn't any option to set priorities, only you can assign management server list.
About failover, there isn't any option to configure time out settings & I believe it works using IP topology, In general connection will fail when 5 pings are lost.
I think this could be GUP related issue, In the SEP 12.1 RU6 there is one fix related to GUP.
GUP fails to retrieve content from SEPM with error: “GUProxy - not enough memory”
Fix ID: 3652490
Symptom: The Symantec Endpoint Protection client cannot download the full definition contents (full.zip) when multiple concurrent full.zip downloads are in progress from the Group Update Provider.
Solution: Added support for multiple concurrent full.zip content downloads from the Group Update Provider.
If issue has with only GUP machines, I would recommend to upgrade 1-2 machines to the latest SEP 12.1 RU6 MP1a version.