Join-server returned error: http post error: Post "http://chirpstacd-application-server:8003": dial tcp: lookup chirpstacd-application-server on no such hos

OTAA join fail, what is that?

The whole chirpstack is built upon docker.

the error is telling you. It cannot find the host under the name you configured. Port 53 is usually DNS.
The name looks like a typo: chirpstacd -> chirpstack