What version are you on? With 12.52 there's a "Kerberos Authentication Template".
In vanilla 12.51 version we used "custom template" and applied the necessary configuration changes. For example:
Auth Scheme = KerbAuth
Server Name = myidp.domain.com
Target = /siteminderagent/Kerberos/creds.kcc
library = smauthkerberos
parameter list = https://myidp.domain.com/siteminderagent/Kerberos/creds.kcc;HTTP/myidp.domain.com@DOMAIN.COM;(sAMAccountName=%HTTP/myidp.domain.com@DOMAIN.COM;(sAMAccountName=%{UID})
ACO = myaco
HttpServicePrincipal = HTTP/myidp.domain.com/DOMAIN.COM
SmpsServicePrincipal = HTTP@myidp.domain.com
One thing to note is that CA documentation likes to tell you to have an SPN per 'service' but depending on how your setup is you can use just one SPN. If there's a centralized credential collector that's easiest to deal with and don't need an SPN + service account on Policy Server and Web Agent; just set one SPN + service account + key tab file.