Jackie-Jiang opened a new pull request, #16942:
URL: https://github.com/apache/pinot/pull/16942

   There is a race condition between `StaleInstancesCleanupTask` removing 
instance and instance of the same name joining the cluster, which could end up 
leaving a live instance without `InstanceConfig`, and breaks Helix controller.
   In order to fix it, we need to do a version check when removing 
InstanceConfig, which requires Helix 1.4.0+.
   For now, disable the task by default.


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