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If you bring the cluster up via the rancher UI, you can do this with a simple checkbox (see screenshot). Otherwise, see these example config.yaml files:

# etcd-only node
disable-apiserver: true
disable-scheduler: true
disable-controller-manager: true
disable-cloud-controller: true
token: somevalue

# control-plane node
disable-etcd: true
server: https://<etcd-only node ip>:9345
token: somevalue