I would recommend using Mirantis OpenStack with the XenServer fuel plugin. See https://git.openstack.org/cgit/openst... for the user guide or https://www.mirantis.com/products/ope... for the certified fuel plugin.

Another useful resource is the single-server blog post at https://www.citrix.com/blogs/2015/10/... which gives an overview of the network requirements. Of course, if you have two servers, then having an isolated connection between the two would serve for the 'pxe' and 'private' networks (use VLANs in the Mirantis network setup to separate these two)