I recently did this exact thing. I'm assuming everything is in the same domain.
- Configure 2+ servers in an Always On availability group.
- Create a publication from the primary node.
- Create the subscribers and make all that work. That should be just like what you're used to.
- This is a really, really good page to read: https://docs.microsoft.com/en-us/sql/database-engine/availability-groups/windows/configure-replication-for-always-on-availability-groups-sql-server
- The key points are to configure all the AG nodes as publishers. Then change the publication from the individual node to the AG. That page describers it as "Redirecting the Publisher".
- It works LIKE A CHAMP. We switch active nodes regularly and have no issues.