I'll try to reproduce the problem and see if I can spot the problem.
Make sure though that you are using the same linux version mentioned in the tutorial (ubuntu 18.04) since there might be extra steps required on other platforms (like debian) as mentioned in the comments
I re-run the tutorial on a fresh server and I cannot reproduce the issue,
I get prompted for authentication for the first user but once the first is in the others can join without pwd.
Maybe the logs will help you identify the problem?
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I'll try to reproduce the problem and see if I can spot the problem.
Make sure though that you are using the same linux version mentioned in the tutorial (ubuntu 18.04) since there might be extra steps required on other platforms (like debian) as mentioned in the comments
I re-run the tutorial on a fresh server and I cannot reproduce the issue,
I get prompted for authentication for the first user but once the first is in the others can join without pwd.
Maybe the logs will help you identify the problem?