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Ansible will work for this workflow.  Generally speaking, you'll need to use the panos_object_facts module to get the list of Address Objects first, then register the output so you can make decisions on it.  That will allow you to conditionally execute panos_address_object to create the address object when it's not already present.  As for the security rule, create or update is already how "state: present" works, so you don't have anything special to do there.

All the Palo Alto Networks modules and fact modules you'll need to implement this is there, you just need to learn Ansible so you can make it do what you want.