Thanks for the reply. I found the issue, the Kerberos setup was fine the only thing missing was, providing the Kerberos Principal and Keytab path to the IMPALA_CATALOG_ARGS. In the CDH documentation ( CDH Impala Kerberos Point 7) 7. Add Kerberos options to the Impala defaults file, /etc/default/impala. Add the options for both the impalad and statestored daemons, using the IMPALA_SERVER_ARGS and IMPALA_STATE_STORE_ARGS variables that I followed they have only mentioned to update IMPALA_STATE_STORE_ARGS and IMPALA_SERVER_ARGS, that's why catalog server was not authenticating with Kerberos. After adding the the Kerberos Principal and keytab path I was able to start the without any issues.
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