I faced similar issue recently. The problem was cgroup driver. Kubernetes cgroup driver was set to systems but docker was set to systemd. So I created /etc/docker/daemon.json
and added below:
{
"exec-opts": ["native.cgroupdriver=systemd"]
}
Then
sudo systemctl daemon-reload
sudo systemctl restart docker
sudo systemctl restart kubelet
Run kubeadm init or kubeadm join again.