Config server health contributor will be part of eventual release of Steeltoe.Extensions.Configuration.CloudFoundryCore package. For now I created a HealthContributor class for use until we get it. Code snippets and instructions are given below.
Package references required
<PackageReference Include="Pivotal.Extensions.Configuration.ConfigServerCore" Version="2.0.1" />
<PackageReference Include="Steeltoe.Extensions.Configuration.CloudFoundryCore" Version="2.0.1"/>
<PackageReference Include="Steeltoe.Management.CloudFoundryCore" Version="2.0.1"/>
To be added in Startup.cs –> ConfigureServices method
services.ConfigureConfigServerClientOptions(Configuration);
services.AddScoped<IHealthContributor, ConfigServerHealthContributor>();
HealthContributor class file
using System;
using System.Net.Http;
using System.Threading.Tasks;
using Microsoft.Extensions.Options;
using Pivotal.Extensions.Configuration.ConfigServer;
using Steeltoe.Common.Http;
using Steeltoe.Management.Endpoint.Health;
namespace ConfigServer.Vault.Health
{
    public class ConfigServerHealthContributor : IHealthContributor
    {
        private ConfigServerClientSettingsOptions _settings;
        private HttpClient _client;
        private const string TOKEN_HEADER = "X-Config-Token";
        public ConfigServerHealthContributor(IOptions<ConfigServerClientSettingsOptions> confgServerSettings)
        {
            _settings = confgServerSettings.Value;
        }
        public string Id => "ConfigServer";
        public IOptions<ConfigServerClientSettingsOptions> ConfgServerSettings { get; }
        public Steeltoe.Management.Endpoint.Health.Health Health()
        {
            if (_client == null)
                _client = GetHttpClient();
            var requestUri = GetConfigServerUri();
            var request = GetRequestMessage(requestUri);
            bool isSuccess = false;
            var health = new Steeltoe.Management.Endpoint.Health.Health();
            try
            {
                var result = Task.Run(async () => await _client.SendAsync(request)).Result;
                isSuccess = result.IsSuccessStatusCode;
                if (isSuccess)
                {
                    health.Details.Add("status", HealthStatus.UP.ToString());
                }
                else
                {
                    health.Details.Add("status", $"Failure to retrieve config data");
                    health.Details.Add("server-reply",result.Content.ReadAsStringAsync().Result);
                }
            }
            catch (Exception e)
            {
                health.Details.Add("status", "DOWN");
            }
            health.Status = isSuccess ? HealthStatus.UP : HealthStatus.OUT_OF_SERVICE;
            return health;
        }
        private HttpClient GetHttpClient() => HttpClientHelper.GetHttpClient(_settings.ValidateCertificates, _settings.Timeout);
        private string GetConfigServerUri()
        {
            var path = _settings.Name + "/" + _settings.Environment;
            if (!_settings.Uri.EndsWith("/"))
                path = "/" + path;
            return _settings.Uri + path;
        }
        private HttpRequestMessage GetRequestMessage(string requestUri)
        {
            var request = HttpClientHelper.GetRequestMessage(HttpMethod.Get, requestUri, _settings.Username, _settings.Password);
            if (!string.IsNullOrEmpty(_settings.Token))
                request.Headers.Add(TOKEN_HEADER, _settings.Token);
            return request;
        }
    }
}