Before any node can join the cluster, it must be empty. But a node is an old node like in your case, the node should automatically join the cluster as soon as it is started. Initially, it will present itself as a master, but eventually after getting a full sync with the master and also loading all data in memory, it will join back as a slave.
If you want a node to join as a slave right away, i would suggest you delete all the dump.db files and the aof file. So when you restart the redis instance, it will automatically join as a slave right away, but will need time to sync with the master and also load data into memory afterwards. Depending on your size of data, this can take some time to complete.