Rke Cannot connect to the Docker daemon when trying to add new node to k8 cluster

Docker version: 19.03.x
Rancher RKE version: rancher-v2.4.4
When running rke up --config cluster.yaml

RKE fails to add the node to rke cluster and instead it starts failing existing cluster nodes.

INFO[0010] [network] Port listener containers deployed successfully
INFO[0010] [network] Running etcd <-> etcd port checks
INFO[0010] Image [rancher/rke-tools:v0.1.56] exists on host [10.124.56.92]
INFO[0010] Image [rancher/rke-tools:v0.1.56] exists on host [10.124.56.19]
INFO[0010] Image [rancher/rke-tools:v0.1.56] exists on host [10.124.56.172]
INFO[0010] Image [rancher/rke-tools:v0.1.56] exists on host [10.124.56.51]
INFO[0011] Starting container [rke-port-checker] on host [10.124.56.19], try #1
INFO[0011] Starting container [rke-port-checker] on host [10.124.56.92], try #1
INFO[0011] Starting container [rke-port-checker] on host [10.124.56.172], try #1
INFO[0011] Starting container [rke-port-checker] on host [10.124.56.51], try #1
INFO[0015] [network] Successfully started [rke-port-checker] container on host [10.124.56.92]
INFO[0015] [network] Successfully started [rke-port-checker] container on host [10.124.56.172]
INFO[0015] Removing container [rke-port-checker] on host [10.124.56.92], try #1
INFO[0015] [network] Successfully started [rke-port-checker] container on host [10.124.56.51]
INFO[0015] Removing container [rke-port-checker] on host [10.124.56.172], try #1
INFO[0015] Removing container [rke-port-checker] on host [10.124.56.51], try #1
INFO[0016] [network] Successfully started [rke-port-checker] container on host [10.124.56.19]
INFO[0016] Removing container [rke-port-checker] on host [10.124.56.19], try #1
WARN[0060] Failed to inspect Docker container [rke-port-checker] on host [10.124.56.112]: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?
WARN[0111] Failed to inspect Docker container [rke-port-checker] on host [10.124.56.112]: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?
WARN[0161] Failed to inspect Docker container [rke-port-checker] on host [10.124.56.112]: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?
FATA[0161] [Failed to inspect Docker container [rke-port-checker] on host [10.124.56.112]: <nil>]
// error faced while inteacting with existing master nodes 
INFO[0046] Removing container [cert-deployer] on host [10.124.56.112], try #1
INFO[0046] Checking if container [cert-deployer] is running on host [10.124.56.92], try #1
INFO[0046] Removing container [cert-deployer] on host [10.124.56.92], try #1
INFO[0046] Checking if container [cert-deployer] is running on host [10.124.56.78], try #1
INFO[0046] Removing container [cert-deployer] on host [10.124.56.78], try #1
INFO[0046] Checking if container [cert-deployer] is running on host [10.124.56.51], try #1
INFO[0046] Removing container [cert-deployer] on host [10.124.56.51], try #1
INFO[0046] Checking if container [cert-deployer] is running on host [10.124.56.10], try #1
INFO[0046] Removing container [cert-deployer] on host [10.124.56.10], try #1
INFO[0047] Checking if container [cert-deployer] is running on host [10.124.56.169], try #1
INFO[0047] Removing container [cert-deployer] on host [10.124.56.169], try #1
INFO[0047] Checking if container [cert-deployer] is running on host [10.124.56.19], try #1
INFO[0047] Removing container [cert-deployer] on host [10.124.56.19], try #1
WARN[0088] Can't start Docker container [cert-deployer] on host [10.124.56.172]: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?
INFO[0088] Starting container [cert-deployer] on host [10.124.56.172], try #2
WARN[0138] Can't start Docker container [cert-deployer] on host [10.124.56.172]: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?
INFO[0138] Starting container [cert-deployer] on host [10.124.56.172], try #3
WARN[0188] Can't start Docker container [cert-deployer] on host [10.124.56.172]: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?
FATA[0188] [Failed to start Certificates deployer container on host [10.124.56.172]: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?]

Failed to inspect Docker container [rke-port-checker] on host [10.124.56.112]: Cannot connect to the Docker daemon at unix:///var/run/docker.sock.