Yes as per this doc: Add a Host to a Prepared Cluster
Make sure to add outside of the cluster (standalone host) first and add the host to VDS.
Once the host is attached to the appropriate VDS for the VTEP/VXLAN, you can then move the host to the cluster prepared for NSX.
Yes VTEP will be automatically created and IP gets assigned via DHCP in your case.Bayu Wibowo | vExpert NSX, VCIX6-DCV/NV, Cisco Champion, AWS-SAA
Author of VMware NSX Cookbook http://bit.ly/NSXCookbook
https://nz.linkedin.com/in/bayupw | twitter @bayupw