kevin-wu24 opened a new pull request, #20551:
URL: https://github.com/apache/kafka/pull/20551

   Just because a controller node sets `--no-initial-controllers` flag does not 
mean it is necessarily running kraft.version=1. The more precise meaning is 
that the controller node being formatted does not know what kraft version the 
cluster should be in, and therefore it is only safe to assume kraft.version=0. 
Only by setting one of `--standalone` or `--initial-controllers` is it known 
`kraft.version == 1`. 
   
   For example, it is a valid configuration to run a static quorum defined by 
`controller.quorum.voters` but have all the controllers format with 
`--no-initial-controllers`. In this case, specifying `--no-initial-controllers` 
alongside a metadata version that does not support `kraft.version=1` causes 
formatting to fail.
   


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