Error on adding remote nodes

[jobetinfosec]

Just installed for the first time Teleport on an Ubuntu 20.04 VM. I'm able to login into the web UI.
Now I'm trying to add a remote node to the main server (bastion).
Following the docs, when trying to add node, this error shows up:
INFO [PROC:1] Connecting to the cluster NODE1 with TLS client certificate. service/connect.go:132 ERRO [PROC:1] Node failed to establish connection to cluster: Failed to connect to Auth Server directly or over tunnel, no methods remaining.. service/connect.go:68

To add a node, I did the following:

1. SSH into bastion server and ran: tctl tokens add --type=node
2. SSH into node server and ran:
   sudo teleport start \ --roles=node \ --token=XXX \ --ca-pin=XXX \ --auth-server=SERVER_FQDN_NAME:3025

Is this the proper way to add a node? (the official docs are quite confusing... it would be nice if it could be pointed out on which system the commands should be ran...)

Thanks for any help!