It's true that setting up a secure cluster is kind of annoying right now. But the kubernetes templates (https://github.com/cockroachdb/cockroach/tree/master/cloud/k...) do support secure mode now, and the plan is to provide more like this so it's not something that everyone has to solve by hand.
If you know or can predict the addresses or hostnames you'll be using, then it's possible to generate one cert and reuse it for multiple nodes. This isn't ideal from a security perspective since you lose the ability to revoke individual certs, but since we don't (yet) support CRLs/OCSP it's not much of a loss.
Adding an option to skip hostname checks for node certs might make this less of a pain (it would then be trivial to share one cert for all nodes if that's what you want to do). We'll consider that and see if it compromises any important security properties.