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To make it easier for users to operate a KRaft controller cluster, they can have KRaft controllers automatically join the cluster's set of voters when the node startup by voters by setting the controller.quorum.auto.join.enable to true. In this case, the controller will remove any voter in the set of voters that matches its replica id but doesn't match its directory id by sending the RemoveVoter RPC. Once the controller has removed all duplicate replica directory id it will add itself to the set of voters by sending a AddVoter RPC to the leader, if its replica id and replica directory id is not in the set of voters. The TimoutMs for the AddVoter RPC will be set to 30 seconds.

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