This is going to be a quick post since the solution is quite simple. I received this error when trying to add a vSAN host to a cluster.
Issue was the fact that the host was previously member of a different vSAN cluster that was not existing anymore. What you have to do is to ssh to the host and first you can run esxcli vsan cluster get and you will see details about the previous cluster.
What you have to do is to rung esxcli vsan cluster leave and now you can add it to the new cluster.