The issue has been resolved, i have analysed the ClientIdstartupmanager.log. it throws the error like Server rejected registration request.
renewed the root CA certificate at CAS site to resolve the issue.
I have followed the below and renewed the root certificate.
In the SCCM Console -> Administration -> Site Configuration -> Sites. Right click on your site(s) and edit the properties. In
the Client Computer Communication tab if you have "Use PKI client certificate (client authentication capability) when available" selected then you can modify the client certificate selection criteria.