I was able to restore 389ds data and start service after below exercises.
[ on failed-server] ipa-restore -d --data
/var/lib/ipa/backup/ipa-data-yyyy-mm-dd-hh-mm-ss
[ on failed-server] systemctl start dirsrv(a)US--COM.service
[ on failed-server] ipa-replica-manage -v re-initialize --from="good-server"