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cleanup: update error msg when join cluster failed #17937

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Run time

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Job	Run time
codegen	3m 12s
lint	4m 8s
compile	2m 32s
unit test	6m 15s
e2e test (v1.29.0)	45m 6s
e2e test (v1.30.0)	44m 38s
e2e test (v1.31.0)	44m 52s
	2h 30m 43s