According to your description, it seems you have not configured the Service Principal correctly. I use wrong service principal to deploy K8S in Azure, get the same error:
C:\Users>kubectl get nodes
Unable to connect to the server: dial tcp 13.90.27.73:443: connectex: A connection attempt failed because the connected party did not properly respond after a period of time, or established connection failed because connected host has failed to respond.
You may need to check to ensure the credentials were provided accurately, and that the configured Service Principal has read and write permissions to the target Subscription.
If your Service Principal is misconfigured, none of the kubernetes components will come up in a healthy manner. We can check to see if this the problem:
root@k8s-master-6FEE48E1-0:~# journalctl -u kubelet | grep --text autorest
If you see output that looks like the following, it means you have not configured the service Principal correctly.
root@k8s-master-6FEE48E1-0:~# journalctl -u kubelet | grep --text autorest
Jun 01 01:58:47 k8s-master-6FEE48E1-0 docker[5522]: E0601 01:58:47.447321 6028 kubelet.go:1186] Cannot get Node info: failed to get external ID from cloud provider: autorest#WithErrorUnlessStatusCode: POST https://login.microsoftonline.com/1fcf418e-66ed-4c99-9449-d8e18bf8737a/oauth2/token?api-version=1.0 failed with 400 Bad Request: StatusCode=400
Jun 01 01:58:47 k8s-master-6FEE48E1-0 docker[5522]: E0601 01:58:47.627128 6028 kubelet_node_status.go:70] Unable to construct api.Node object for kubelet: failed to get external ID from cloud provider: autorest#WithErrorUnlessStatusCode: POST https://login.microsoftonline.com/1fcf418e-66ed-4c99-9449-d8e18bf8737a/oauth2/token?api-version=1.0 failed with 400 Bad Request: StatusCode=400
Jun 01 01:58:47 k8s-master-6FEE48E1-0 docker[5522]: E0601 01:58:47.885092 6028 kubelet_node_status.go:70] Unable to construct api.Node object for kubelet: failed to get external ID from cloud provider: autorest#WithErrorUnlessStatusCode: POST https://login.microsoftonline.com/1fcf418e-66ed-4c99-9449-d8e18bf8737a/oauth2/token?api-version=1.0 failed with 400 Bad Request: StatusCode=400
More information about how to create /configure a service principal for ACS-Engin Kubernetes cluster, please refer to this link.