I recently tried to add a second adfs server to an adfs farm and got the error message above. I was using a ucc cert which had the adfs service name.
So to fix it you add the second server via the command line , a typical command would be as follows.
FsConfig.exe JoinFarm /PrimaryComputerName ADFS-SRV /ServiceAccount Contoso\adfsservice /ServiceAccountPassword password /CertThumbprint "ef 72 a6 78 c0 ab 4a bf 07 10 7e e4 86 f5 5e ba 2a 3c 99 6b"
And the output from the command will be as per the image below.