Not out-of-the-box, though I've seen this done a few different ways. There's no easy step-by-step documentation I can provide; All of the setups I've seen in the wild demand a very solid understanding of how Nagios Core works.
There's some older documentation covering wiring up Nagios 3.x installs in DRBD, otherwise there's official documentation from Linbit in wiring up multiple Nagios XI 5.x installs with DRBD:
https://www.linbit.com/tech-guide/ha-na ... -on-rhel7/