A TPM with measured boot (SecureBoot) does exactly this, remote attestation is how Alice proves to Bob that it is in a trusted configuration and wasn't tampered with.
A TPM where the device owner can't take ownership of the root key is worse then no TPM at all.
(One argues that since you own both of them, you should simply set up the two servers yourself with a key of your own choosing, asymmetric or otherwise, and then restrict physical access to them.)
I can perhaps agree that the idea of SB can be good, but it was designed (and is used) in a bad way. Just look at how many distros do not support SB.