Joining Storefront to Server Group Error "Cannot Join Server Group"

Error when trying to add second SF server to existing group: "Cannot join server group There was a problem connecting to the authorizing server. Verify the server name and try again." Joining Storefront Server will show the following Event under "Citrix Delivery Services Logs " Log Name: Citrix...

Storefront 3.12 - Cannot Join Server Group - Joining the Server Group failed. Joiner cleanup was unsuccessful. Please refer to the Windows Event Log for Details

When attempting to add a Storefront Server to a Server group the following error is observed on Joiner Server: Error:Cannot Join Server Group - Joining the Server Group failed. Joiner cleanup was unsuccessful. Please refer to the Windows Event Log for Details. See image below Event logs: Event 1 ...