Failed to communicate with cluster: cluster agent disconnected

We have a cluster deployed in a Landing zone with the API server endpoint restricted to access only from within the Virtual Private Cloud (VPC) where the cluster is hosted. Meanwhile, Rancher has been deployed in a public landing zone and is functioning properly. However, during the Rancher registration process to register this private cluster, the cluster went into a waiting state. The error message displayed is:

“Failed to communicate with cluster: Post ‘https://E3DA8E2A1298D8C89667BB45D2563790.sk1.eu-west-1.eks.amazonaws.com/api/v1/namespaces’: cluster agent disconnected”

Can you help find a solution for this issue?