@Jeffrey_Yemin
Sorry, I was out for couple of weeks. So I setup a MongoDB v4.4. Tried with new Java driver v3.12.11. Updated my connection URI to mongodb://localhost:27017/?ssl=true&tlsCertificateKeyFile=/etc/ssl/mongodb.pem&tlsCAFile=/etc/ssl/rootCA.pem
Also imported pem files using keytool but I still get the same error.