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For others that might struggle with the same issue. As `publicAccessCidrs` limits the  Kubernetes API server endpoint access to the specified CIDR blocks, If those blocks do not allow access from within the VPC, the nodes can’t join the cluster. To allow access to the Kubernetes API from inside VPC you can set `endpointPrivateAccess` to `true`.

More details in <https://docs.aws.amazon.com/eks/latest/APIReference/API_VpcConfigRequest.html>

I found that using `node_associate_public_ip_address=False` prevented the nodes from either being created or joining the cluster, not sure which. That was while allowing the default values for `endpoint_private_access` (default false) and `endpoint_public_access` (default true).