Hi ,
In regard to your issue of ‘Configure failover failed error:20044’ , here is a similar case that might help you. Please refer to the following link:
configure-failover-failed-error20044the-class-name-used-is-unknown-or-incorrect
Please refer to the configuration process of failover step-by-step, and check the vendor classes option of two DHCP server. According to my research, the mismatch configuration of vendor class option in DHCP servers could cause this error, please check the vendor class of your two DHCP servers and add the missing class.
For your reference:
https://learn.microsoft.com/en-us/previous-versions/windows/it-pro/windows-server-2012-R2-and-2012/hh831385(v=ws.11)?redirectedfrom=MSDN
Hope my answer will help you, thanks!