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What do the logs on the node say? Check rancher-system-agent and rke2-server logs in journald. If you see nothing there check the cloud-init log.

Thank you for your response. I seem to have failed at adding the worker. We separate our control plane from worker nodes and I remember when setting up a cluster before, I could start a control plane without necessarily having all roles applied. I thought this behavior was the same but the moment I added the worker node, things worked. Thank you again