If one etcd node is no longer a member of the remaining etcd cluster or fails to connect you need to remove it from the cluster and then add it again:

1. Stop etcd on the broken node : sudo stop etcd
2. delete the data on the broken node sudo rm -r /var/lib/etcd/data/*
3. delete the wal data on the broken node: sudo rm -r /var/lib/etcd/wal/*
4. Follow the instructions for etcd runtime-configuration Show archive.org snapshot , remove the broken node from the cluster, then re-add it again and update the etcd config on the broken node with the parameters printed by the add command.
5. start etcd again

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Even if etcd logging is configured to /var/log/etcd/etcd.log it can happen on new hosts (focal) that StandardOutput is only in journal (systemctl status etcd).