Yes,
I have started with 0.4 and switched to 2.0.8+ and use bare metal for my testing purposes, and there are
few docs for that and yet it can be driven by cloud-config and reboots IFF you do these steps:
make changes to cloud-config:
sudo vi /var/lib/coreos-install/user_data
sudo rm -rf /var/lib/etcd2/*
sudo rm -f /etc/systemd/system/etcd*
sudo reboot
The deleting of /etc/systemd/system/etcd* is not always necessary -- but since it is almost undocumented and
sometimes IS necessary -- I do it every time I am not starting from scratch with an image.
Things are much smoother with 2.0: I can remove a node and add node and have a cluster of nodes that
were not in the first cluster, but keep that first identity alive, no problems. I even could kill all nodes
and recover without effort, just boot up a few minutes later, unlike 0.4.6.
John Griessen