This article provides details on exposing the web page to remove stale entries from the Automation Orchestrator cluster.
https://AutomationOrchestratorFQDN/vco-controlcenter/config/#/control-app/ha?remove-nodes
There is no impact to a running cluster when removing a stale entry that no longer exists.
Note: Do not remove a node you know to be an active member of the existing cluster.