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After a lot of struggle and searching on google, I managed to solve the error [INS-06006] Passwordless SSH connectivity not set up between the following node(s), which was occurring when adding the second node to the Oracle RAC configuration.
I recreated the public and private keys, scp file, patched the grid binaries, and still the error remained.

Hopes were already lost, until I found on the grid-it.nl blog, how to unset the SSH_AUTH_SOCK variable.
I checked the variable in the operating system, and it wasn’t set to any value, but out of spite, I unset it.
[+ASM1] /u01/app/19.26.0.0/grid> echo $SSH_AUTH_SOCK
[+ASM1] /u01/app/19.26.0.0/grid> unset SSH_AUTH_SOCK
BashAnd then it went past the screen where the error is. I hope it helps you, faster than it helped me, because I spent hours trying to solve this error.