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This is actually pretty well described in the docs.

Before you create worker nodes, you must create an IAM role with the following IAM policies:

AmazonEKSWorkerNodePolicy

AmazonEKS_CNI_Policy

AmazonEC2ContainerRegistryReadOnly

Also you need to make sure that this role could be assumed by EKS.

{
  "Version": "2012-10-17",
  "Statement": [
    {
      "Effect": "Allow",
      "Principal": {
        "Service": "ec2.amazonaws.com"
      },
      "Action": "sts:AssumeRole"
    }
  ]
}