Envoy Load Balancer Example YAML

Question

I want to do some basic TCP load balancing through Envoy to multiple upstream servers. This is probably one of the simplest possible scenarios, and yet there seems to be zero example YAML of how to do this online. If I attempt to define multiple endpoint under lb_endpoint then I get an error saying that there can only be one endpoint. This is super confusing - how do I actually do load balancing without multiple endpoints? An example would be greatly appreciated.