If you configure the listerner with a domain admin account it should be automatic but usually it is not enough.
It's better to have full control of what you are doing.
First thing to remember is that an spn is a registration done on the domanin compunter account or domain user account that is running sql server service. While it is the same for both nodes, you have to do only one registration.
Check existing spn for your system:
setspn -L domain\sqlserverservicelogin
setspn -L domain\clusterservercumputeraccount$
Then you can register a listener in this way:
setspn -S MSSQLSvc/listener_name:port domain\sqlserverservicelogin
setspn -S MSSQLSvc/listener_name.domain.local:port domain\sqlserverservicelogin
It's better to register both listener name and listener FQDN to be sure to match less precise application configurations.
The same commands with computer accounts:
setspn -S MSSQLSvc/listener_name:port domain\clusterservercumputeraccount$
setspn -S MSSQLSvc/listener_name.domain.local:port domain\clusterservercumputeraccount$
To register spn you have to be domain admin.
A Microsoft tool that can help you if Microsoft Kerberos Configuration Manager for SQL Server:
Once everything is on place you don't have to do anyting else unless you change something like serfice users, listener names and/or ports