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According to this page, under Grid overview:
Additional grid nodes can be added by installing build agents on other build machines. Installed agents are automatically authorized and will appear as active nodes.
In my installation (version 8.27), all new nodes have to be authorized.
Yes this is a documentation error and has been fixed.
Thanks. It would be helpful to doc how to authorize a node (as you do for unauthorizing it).
My teammate gave be a hard time about this after I said 'read the doc, it is the best'.
Added the information to wiki. Thanks for suggestion.