Kubernetes StatefulSets - run pod on every worker node
Use DaemonSet instead.
A DaemonSet ensures that all (or some) Nodes run a copy of a Pod. As nodes are added to the cluster, Pods are added to them. As nodes are removed from the cluster, those Pods are garbage collected. Deleting a DaemonSet will clean up the Pods it created.
If you really want to use statefulSet, you can take a look at features like nodeSelector or Affinity and Anti-affinity.