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it looks antiAffinity is what you need. Set it to true and add the label

app=<your-rancher-app-full-name>

to target nodes will make rancher pods to be assigned to them. https://github.com/rancher/rancher/blob/2581a956996c948945dac34ca159c32ce556a6bd/chart/templates/deployment.yaml#L41-L50

And if those nodes are tainted is there a way to overcome the taint?

to my knowledge, the answer is no because the rancher helm chart does not support customizing the tolerations on the rancher deployment.

Thanks!