First, those TLS Handshake errors are safe to ignore.
Now you want to confirm you can connect to the exporters correctly, so for example, from PMM Server run a command similar to this:
curl -sk [url]https://192.168.5.203:42002/metrics-hr[/url]
Do you see records? You should on a working system.
Let us know if this works or not, then we can continue troubleshooting