Node NotReady due to Unauthorized failure creating a new CSR in OpenShift 4.x

Issue

OpenShift 4.2 or 4.3 Node is reporting NotReady:

$ oc get nodes
NAME                            STATUS     ROLES    AGE   VERSION
(...)
worker-6j98d   NotReady   worker   22h   v1.16.2
(...)

The following error is reported in kubelet service logs on he affected node

[root@worker-6j98d ~]$ journalctl -u kubelet
(...)
May 02 07:22:45 worker-6j98d hyperkube[3046]: E0502 07:22:45.244413    3046 certificate_manager.go:385] Failed while requesting a signed certificate from the master: cannot create certificate signing request: Unauthorized
(...)

Missing /var/lib/kubelet/pki directory or /var/lib/kubelet/kubeconfig file on the affected node.