Okay, I solved this. For everyone else who runs into this. Federico was spot on when he had me double check those configuration files.
I had originally just copied the ossec.conf from other worker nodes and changed the pertinent information to reflect the new node so I knew it wasn't an issue.
After reviewing the ossec.log the original problem is I didn't have the same authd password on worker-4 that I have on all of the other workers. After adjusting this password I then wasn't getting any more errors from ossec.log, but I also wasn't getting any data from this worker node.
At that point I decided to check the filebeat logs (tail -f /var/log/filebeat/filebeat) and I was getting errors with the account I used for the new node having the proper permissions to write to the indices. After adjusting the permissions for this user in the Dashboard security field I was able to get the logs flowing.