This entry assumes you have already available some Talos linux instances (be it VMs, or bare metal). It follows the documented steps (v.17 at the moment of writing).

Prerequisites

You need to have the IPs of the Talos linux instances, so you can build the cluster(s). Select one node as a main node. In my case, I've selected the node with IP = 10.0.0.179 as my main node. I'll refer to this IP address as MAIN_CLUSTER_IP.

Initial configuration

talosctl gen config vmcluster https://(MAIN_CLUSTER_IP):6443 --force

Apply it for the first node:

talosctl apply-config --insecure -n (MAIN_CLUSTER_IP) --file controlplane.yaml

After, add the node to the cluster:

talosctl bootstrap  --nodes (MAIN_CLUSTER_IP) --endpoints (MAIN_CLUSTER_IP) --talosconfig=./talosconfig

Subsequent nodes

For all other nodes, you only need to apply-config with either controlplane.yml or worker.yml, like so for example:

talosctl apply-config --insecure -n 10.0.0.184 --file worker.yaml

Note: Talos docs note that you should have 3 control plane nodes and the rest as workers.

When finished

Once they are ready, you can export the kubectl configuration:

talosctl kubeconfig alternative-kubeconfig -n 10.0.0.179 -e 10.0.0.179

and, to make our life easier, we do the following:

mkdir ${HOME}/.kube-talos
cp alternative-kubeconfig ${HOME}/.kube-talos
export KUBECONFIG=${HOME}/.kube-talos/alternative-kubeconfig

HTH,