We are running Jenkins master and agent nodes on CentOS 7 Linux 64 bit. Agent nodes have docker (version 19.03.5) installed. All builds are executing on Jenkins agent nodes.
We have a declarative pipeline job executing on 10 docker nodes in parallel stages. Each parallel stage starts a container on a docker node ,by pulling docker image from internal registry ,then executes some build actions inside the container. Sometime we face this intermittent issue just after the container is started on a docker node (log from Console Output):

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docker pull <docker_image>

docker run -t -d -u <uid>:<uid> --user root:root --shm-size=2g -w <workspace_path> -v <workspace_path>:<workspace_path>:rw,z -v <workspace_path>@tmp:<workspace_path>@tmp:rw,z -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** -e ******** <docker_image> cat

docker top "ee632b4c84ed5aaea15608d5180169dfc7eedeaf7021a6724232e61c1f4d5d4c Process leaked file descriptors. See https://jenkins.io/redirect/troubleshooting/process-leaked-file-descriptors for more information" -eo pid,comm

...

java.io.IOException: Failed to run top 'ee632b4c84ed5aaea15608d5180169dfc7eedeaf7021a6724232e61c1f4d5d4c Process leaked file descriptors. See https://jenkins.io/redirect/troubleshooting/process-leaked-file-descriptors for more information'.  Error: Error response from daemon: page not found at org.jenkinsci.plugins.docker.workflow.client.DockerClient.listProcess(DockerClient.java:145) at org.jenkinsci.plugins.docker.workflow.WithContainerStep$Execution.start(WithContainerStep.java:199) at org.jenkinsci.plugins.workflow.cps.DSL.invokeStep(DSL.java:286) at org.jenkinsci.plugins.workflow.cps.DSL.invokeMethod(DSL.java:179) at org.jenkinsci.plugins.workflow.cps.CpsScript.invokeMethod(CpsScript.java:122) at org.codehaus.groovy.runtime.callsite.PogoMetaClassSite.call(PogoMetaClassSite.java:48) at org.codehaus.groovy.runtime.callsite.CallSiteArray.defaultCall(CallSiteArray.java:48) at org.codehaus.groovy.runtime.callsite.AbstractCallSite.call(AbstractCallSite.java:113) at com.cloudbees.groovy.cps.sandbox.DefaultInvoker.methodCall(DefaultInvoker.java:20) at org.jenkinsci.plugins.docker.workflow.Docker$Image.inside(Docker.groovy:126) at org.jenkinsci.plugins.docker.workflow.Docker.node(Docker.groovy:66) at org.jenkinsci.plugins.docker.workflow.Docker$Image.inside(Docker.groovy:114) at org.jenkinsci.plugins.docker.workflow.declarative.DockerPipelineScript.runImage(DockerPipelineScript.groovy:57) at org.jenkinsci.plugins.docker.workflow.declarative.AbstractDockerPipelineScript.configureRegistry(AbstractDockerPipelineScript.groovy:70) at org.jenkinsci.plugins.docker.workflow.Docker.withRegistry(Docker.groovy:41) at __cps.transform__(Native Method) at com.cloudbees.groovy.cps.impl.ContinuationGroup.methodCall(ContinuationGroup.java:86) at com.cloudbees.groovy.cps.impl.FunctionCallBlock$ContinuationImpl.dispatchOrArg(FunctionCallBlock.java:113) at com.cloudbees.groovy.cps.impl.FunctionCallBlock$ContinuationImpl.fixArg(FunctionCallBlock.java:83) at sun.reflect.GeneratedMethodAccessor332.invoke(Unknown Source) at sun.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43) at java.lang.reflect.Method.invoke(Method.java:498) at com.cloudbees.groovy.cps.impl.ContinuationPtr$ContinuationImpl.receive(ContinuationPtr.java:72) at com.cloudbees.groovy.cps.impl.ClosureBlock.eval(ClosureBlock.java:46) at com.cloudbees.groovy.cps.Next.step(Next.java:83) at com.cloudbees.groovy.cps.Continuable$1.call(Continuable.java:174) at com.cloudbees.groovy.cps.Continuable$1.call(Continuable.java:163) at org.codehaus.groovy.runtime.GroovyCategorySupport$ThreadCategoryInfo.use(GroovyCategorySupport.java:129) at org.codehaus.groovy.runtime.GroovyCategorySupport.use(GroovyCategorySupport.java:268) at com.cloudbees.groovy.cps.Continuable.run0(Continuable.java:163) at org.jenkinsci.plugins.workflow.cps.SandboxContinuable.access$001(SandboxContinuable.java:18) at org.jenkinsci.plugins.workflow.cps.SandboxContinuable.run0(SandboxContinuable.java:51) at org.jenkinsci.plugins.workflow.cps.CpsThread.runNextChunk(CpsThread.java:185) at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup.run(CpsThreadGroup.java:400) at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup.access$400(CpsThreadGroup.java:96) at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup$2.call(CpsThreadGroup.java:312) at org.jenkinsci.plugins.workflow.cps.CpsThreadGroup$2.call(CpsThreadGroup.java:276) at org.jenkinsci.plugins.workflow.cps.CpsVmExecutorService$2.call(CpsVmExecutorService.java:67) at java.util.concurrent.FutureTask.run(FutureTask.java:266) at hudson.remoting.SingleLaneExecutorService$1.run(SingleLaneExecutorService.java:131) at jenkins.util.ContextResettingExecutorService$1.run(ContextResettingExecutorService.java:28) at jenkins.security.ImpersonatingExecutorService$1.run(ImpersonatingExecutorService.java:59) at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511) at java.util.concurrent.FutureTask.run(FutureTask.java:266) at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149) at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624) at java.lang.Thread.run(Thread.java:748)

Finished: FAILURE

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This results in a started container on the docker node ,but no further steps are executed into the container and the stage fails. This is intermittent issue and we can't reproduce it. It  happens in random ,let say 3-5% of all builds.
Note the success "docker top" command is: "docker top <container_hash> -eo pid,comm" and stage continue to execute all build actions/steps inside started container.
We checked all resources like ulimits(especially nofiles user limits)/CPU/Memory/Disk ,etc. at the time of this issue and all were good.

We cannot determine why we got this "Process leaked file descriptors ..." message within docker top ,and seems it is breaking the "docker top" command and causes the specific stage to fail.
Do someone else face similar issue with docker-workflow-plugin?

Let me know for any more details.