NODE-1 status

[root@node1-ha ~]# corosync-cfgtool -s
Printing ring status.
Local node ID 1
RING ID 0
id = 192.168.2.99
status = Marking seqid 56957 ringid 0 interface 192.168.2.99 FAULTY
RING ID 1
id = 192.168.2.101
status = ring 1 active with no faults


NODE-2 status

[root@node2-ha ~]# corosync-cfgtool -s
Printing ring status.
Local node ID 2
RING ID 0
id = 192.168.2.100
status = ring 0 active with no faults
RING ID 1
id = 192.168.2.102
status = ring 1 active with no faults


[root@node1-ha ~]# pcs cluster status
Cluster Status:
Stack: corosync
Current DC: node2-ha-hb1 (version 1.1.19-8.el7-c3c624ea3d) - partition with quorum
Last updated: Fri Dec 18 17:49:43 2020
Last change: Fri Dec 18 15:57:22 2020 by root via cibadmin on node1-ha-hb1
2 nodes configured
1 resource configured

PCSD Status:
node2-ha-hb1: Unable to authenticate
node1-ha-hb1: Unable to authenticate

[root@node1-ha ~]# cat /etc/corosync/corosync.conf
totem {
version: 2
cluster_name: REDHAT-HA
secauth: off
transport: udpu
rrp_mode: active
}

nodelist {
node {
# ring0_addr: node1-ha
ring0_addr: node1-ha-hb1
ring1_addr: node1-ha-hb2
nodeid: 1
}

node {
# ring0_addr: node2-ha
ring0_addr: node2-ha-hb1
ring1_addr: node2-ha-hb2
nodeid: 2
}
}

quorum {
provider: corosync_votequorum
two_node: 1
}

logging {
to_logfile: yes
logfile: /var/log/cluster/corosync.log
to_syslog: yes
}



[root@node2-ha ~]# cat /etc/corosync/corosync.conf
totem {
version: 2
cluster_name: REDHAT-HA
secauth: off
transport: udpu
rrp_mode: active
}

nodelist {
node {
# ring0_addr: node1-ha
ring0_addr: node1-ha-hb1
ring1_addr: node1-ha-hb2
nodeid: 1
}

node {
# ring0_addr: node2-ha
ring0_addr: node2-ha-hb1
ring1_addr: node2-ha-hb2
nodeid: 2
}
}

quorum {
provider: corosync_votequorum
two_node: 1
}

logging {
to_logfile: yes
logfile: /var/log/cluster/corosync.log
to_syslog: yes
}

I there a question here?
You posted some "stuff" that noone will have any idea about.

Is it this?
https://github.com/corosync/corosync

How about starting at the beginning of a thought instead of in the middle of one.

Query is well mentioned in subject i.e., Pacemaker shows "Unable to authenticate" after HA heartbeats configuration