without other script or tool help is not possible. The big stone block to register remote node from hub server is each remote node need to use a port from self when register to hub, it means the register command have to run from remote node.
Even you can specify the node ip and port and execute register command on hub server, but hub server can't communicate with the node, because the specified port never be run for register process (hub server can't to setup a connection chanel on the port on remote node).
You can try to write a script on hub server, when the script running, it will copy
the nodeConfig.json to remote node and execute the register command on remote node. I think this is feasible with some tools help.
If your hub server and node machines all are linux OS, it's easy to archive that,
I'm not a linux shell expert, but i know it can be implemet.