By default, a control plane node can manage application workloads as well. This is okay for a lighter workload (~50 concurrent conversations) and RKE2 Single Node Deployment. But, for a higher workload or a multi-cluster setup, all control plane nodes should be tainted to schedule control-plane pods only.
First get the nodes to identify which are control plane / master nodes.
kubectl get nodes
Then to taint the master nodes, use the following command for each of the master node.
kubectl taint nodes (nodename) node-role.kubernetes.io/master:NoSchedule
Once done allow the RKE Ingress to spin up on control plane as well.
kubectl patch deploy nginx-ingress-nginx-ingress-controller -n ingress-nginx --type json -p='[{"op": "add", "path": "/spec/template/spec/tolerations", "value": [{"key": "node-role.kubernetes.io/master", "operator": "Exists", "effect": "NoSchedule"}]}]'
kubectl patch deploy nginx-ingress-nginx-ingress-controller-default-backend -n ingress-nginx --type json -p='[{"op": "add", "path": "/spec/template/spec/tolerations", "value": [{"key": "node-role.kubernetes.io/master", "operator": "Exists", "effect": "NoSchedule"}]}]'