diff --git a/api/swagger.yaml b/api/swagger.yaml
index cda2827619..afe7a8c371 100644
--- a/api/swagger.yaml
+++ b/api/swagger.yaml
@@ -2343,6 +2343,8 @@ definitions:
         type: "string"
       error:
         type: "string"
+      errorDetail:
+        $ref: "#/definitions/ErrorDetail"
       status:
         type: "string"
       progress:
@@ -8725,6 +8727,10 @@ paths:
               IdentityToken: "9cbaf023786cd7..."
         204:
           description: "No error"
+        401:
+          description: "Auth error"
+          schema:
+            $ref: "#/definitions/ErrorResponse"
         500:
           description: "Server error"
           schema:
diff --git a/docs/api/v1.39.yaml b/docs/api/v1.39.yaml
index c776470d31..5e565b4dc1 100644
--- a/docs/api/v1.39.yaml
+++ b/docs/api/v1.39.yaml
@@ -573,6 +573,7 @@ definitions:
           to not change.
         type: "integer"
         format: "int64"
+        x-nullable: true
       Ulimits:
         description: |
           A list of resource limits to set in the container. For example:
@@ -694,11 +695,13 @@ definitions:
           The time to wait between checks in nanoseconds. It should be 0 or at
           least 1000000 (1 ms). 0 means inherit.
         type: "integer"
+        format: "int64"
       Timeout:
         description: |
           The time to wait before considering the check to have hung. It should
           be 0 or at least 1000000 (1 ms). 0 means inherit.
         type: "integer"
+        format: "int64"
       Retries:
         description: |
           The number of consecutive failures needed to consider a container as
@@ -710,11 +713,13 @@ definitions:
           health-retries countdown in nanoseconds. It should be 0 or at least
           1000000 (1 ms). 0 means inherit.
         type: "integer"
+        format: "int64"
 
   Health:
     description: |
       Health stores information about the container's healthcheck results.
     type: "object"
+    x-nullable: true
     properties:
       Status:
         description: |
@@ -740,13 +745,13 @@ definitions:
         description: |
           Log contains the last few results (oldest first)
         items:
-          x-nullable: true
           $ref: "#/definitions/HealthcheckResult"
 
   HealthcheckResult:
     description: |
       HealthcheckResult stores information about a single run of a healthcheck probe
     type: "object"
+    x-nullable: true
     properties:
       Start:
         description: |
@@ -1014,6 +1019,7 @@ definitions:
               remapping option is enabled.
           ShmSize:
             type: "integer"
+            format: "int64"
             description: |
               Size of `/dev/shm` in bytes. If omitted, the system uses 64MB.
             minimum: 0
@@ -1534,7 +1540,7 @@ definitions:
           List of image names/tags in the local image cache that reference this
           image.
 
-          Multiple image tags can refer to the same imagem and this list may be
+          Multiple image tags can refer to the same image, and this list may be
           empty if no tags reference the image, in which case the image is
           "untagged", in which case it can still be referenced by its ID.
         type: "array"
@@ -1735,7 +1741,7 @@ definitions:
           List of image names/tags in the local image cache that reference this
           image.
 
-          Multiple image tags can refer to the same imagem and this list may be
+          Multiple image tags can refer to the same image, and this list may be
           empty if no tags reference the image, in which case the image is
           "untagged", in which case it can still be referenced by its ID.
         type: "array"
@@ -1785,6 +1791,7 @@ definitions:
           This size is not calculated by default. `-1` indicates that the value
           has not been set / calculated.
         type: "integer"
+        format: "int64"
         x-nullable: false
         example: 1239828
       VirtualSize:
@@ -1929,6 +1936,7 @@ definitions:
         properties:
           Size:
             type: "integer"
+            format: "int64"
             default: -1
             description: |
               Amount of disk space used by the volume (in bytes). This information
@@ -1938,6 +1946,7 @@ definitions:
             x-nullable: false
           RefCount:
             type: "integer"
+            format: "int64"
             default: -1
             description: |
               The number of containers referencing this volume. This field
@@ -2213,6 +2222,8 @@ definitions:
         type: "string"
       error:
         type: "string"
+      errorDetail:
+        $ref: "#/definitions/ErrorDetail"
       status:
         type: "string"
       progress:
@@ -4301,6 +4312,7 @@ definitions:
       ContainerState stores container's running state. It's part of ContainerJSONBase
       and will be returned by the "inspect" command.
     type: "object"
+    x-nullable: true
     properties:
       Status:
         description: |
@@ -4358,7 +4370,6 @@ definitions:
         type: "string"
         example: "2020-01-06T09:07:59.461876391Z"
       Health:
-        x-nullable: true
         $ref: "#/definitions/Health"
 
   ContainerWaitResponse:
@@ -4371,6 +4382,7 @@ definitions:
       StatusCode:
         description: "Exit code of the container"
         type: "integer"
+        format: "int64"
         x-nullable: false
       Error:
         $ref: "#/definitions/ContainerWaitExitError"
@@ -4480,7 +4492,6 @@ definitions:
         type: "string"
         example: "2020-06-22T15:49:27.000000000+00:00"
 
-
   SystemInfo:
     type: "object"
     properties:
@@ -5724,7 +5735,6 @@ paths:
                 items:
                   type: "string"
               State:
-                x-nullable: true
                 $ref: "#/definitions/ContainerState"
               Image:
                 description: "The container's image ID"
@@ -5737,9 +5747,6 @@ paths:
                 type: "string"
               LogPath:
                 type: "string"
-              Node:
-                description: "TODO"
-                type: "object"
               Name:
                 type: "string"
               RestartCount:
@@ -6519,7 +6526,8 @@ paths:
           type: "string"
         - name: "signal"
           in: "query"
-          description: "Signal to send to the container as an integer or string (e.g. `SIGINT`)"
+          description: |
+            Signal to send to the container as an integer or string (e.g. `SIGINT`).
           type: "string"
           default: "SIGKILL"
       tags: ["Container"]
@@ -7897,6 +7905,10 @@ paths:
               IdentityToken: "9cbaf023786cd7..."
         204:
           description: "No error"
+        401:
+          description: "Auth error"
+          schema:
+            $ref: "#/definitions/ErrorResponse"
         500:
           description: "Server error"
           schema:
@@ -8732,6 +8744,7 @@ paths:
           type: "boolean"
           default: false
       tags: ["Volume"]
+
   /volumes/prune:
     post:
       summary: "Delete unused volumes"
diff --git a/docs/api/v1.40.yaml b/docs/api/v1.40.yaml
index 7e81040876..818f849390 100644
--- a/docs/api/v1.40.yaml
+++ b/docs/api/v1.40.yaml
@@ -746,11 +746,13 @@ definitions:
           The time to wait between checks in nanoseconds. It should be 0 or at
           least 1000000 (1 ms). 0 means inherit.
         type: "integer"
+        format: "int64"
       Timeout:
         description: |
           The time to wait before considering the check to have hung. It should
           be 0 or at least 1000000 (1 ms). 0 means inherit.
         type: "integer"
+        format: "int64"
       Retries:
         description: |
           The number of consecutive failures needed to consider a container as
@@ -762,11 +764,13 @@ definitions:
           health-retries countdown in nanoseconds. It should be 0 or at least
           1000000 (1 ms). 0 means inherit.
         type: "integer"
+        format: "int64"
 
   Health:
     description: |
       Health stores information about the container's healthcheck results.
     type: "object"
+    x-nullable: true
     properties:
       Status:
         description: |
@@ -792,13 +796,13 @@ definitions:
         description: |
           Log contains the last few results (oldest first)
         items:
-          x-nullable: true
           $ref: "#/definitions/HealthcheckResult"
 
   HealthcheckResult:
     description: |
       HealthcheckResult stores information about a single run of a healthcheck probe
     type: "object"
+    x-nullable: true
     properties:
       Start:
         description: |
@@ -1075,6 +1079,7 @@ definitions:
               remapping option is enabled.
           ShmSize:
             type: "integer"
+            format: "int64"
             description: |
               Size of `/dev/shm` in bytes. If omitted, the system uses 64MB.
             minimum: 0
@@ -1595,7 +1600,7 @@ definitions:
           List of image names/tags in the local image cache that reference this
           image.
 
-          Multiple image tags can refer to the same imagem and this list may be
+          Multiple image tags can refer to the same image, and this list may be
           empty if no tags reference the image, in which case the image is
           "untagged", in which case it can still be referenced by its ID.
         type: "array"
@@ -1796,7 +1801,7 @@ definitions:
           List of image names/tags in the local image cache that reference this
           image.
 
-          Multiple image tags can refer to the same imagem and this list may be
+          Multiple image tags can refer to the same image, and this list may be
           empty if no tags reference the image, in which case the image is
           "untagged", in which case it can still be referenced by its ID.
         type: "array"
@@ -1846,6 +1851,7 @@ definitions:
           This size is not calculated by default. `-1` indicates that the value
           has not been set / calculated.
         type: "integer"
+        format: "int64"
         x-nullable: false
         example: 1239828
       VirtualSize:
@@ -1990,6 +1996,7 @@ definitions:
         properties:
           Size:
             type: "integer"
+            format: "int64"
             default: -1
             description: |
               Amount of disk space used by the volume (in bytes). This information
@@ -1999,6 +2006,7 @@ definitions:
             x-nullable: false
           RefCount:
             type: "integer"
+            format: "int64"
             default: -1
             description: |
               The number of containers referencing this volume. This field
@@ -2274,6 +2282,8 @@ definitions:
         type: "string"
       error:
         type: "string"
+      errorDetail:
+        $ref: "#/definitions/ErrorDetail"
       status:
         type: "string"
       progress:
@@ -4426,6 +4436,7 @@ definitions:
       ContainerState stores container's running state. It's part of ContainerJSONBase
       and will be returned by the "inspect" command.
     type: "object"
+    x-nullable: true
     properties:
       Status:
         description: |
@@ -4483,7 +4494,6 @@ definitions:
         type: "string"
         example: "2020-01-06T09:07:59.461876391Z"
       Health:
-        x-nullable: true
         $ref: "#/definitions/Health"
 
   ContainerWaitResponse:
@@ -4496,6 +4506,7 @@ definitions:
       StatusCode:
         description: "Exit code of the container"
         type: "integer"
+        format: "int64"
         x-nullable: false
       Error:
         $ref: "#/definitions/ContainerWaitExitError"
@@ -6023,7 +6034,6 @@ paths:
                 items:
                   type: "string"
               State:
-                x-nullable: true
                 $ref: "#/definitions/ContainerState"
               Image:
                 description: "The container's image ID"
@@ -6036,9 +6046,6 @@ paths:
                 type: "string"
               LogPath:
                 type: "string"
-              Node:
-                description: "TODO"
-                type: "object"
               Name:
                 type: "string"
               RestartCount:
@@ -6825,7 +6832,8 @@ paths:
           type: "string"
         - name: "signal"
           in: "query"
-          description: "Signal to send to the container as an integer or string (e.g. `SIGINT`)"
+          description: |
+            Signal to send to the container as an integer or string (e.g. `SIGINT`).
           type: "string"
           default: "SIGKILL"
       tags: ["Container"]
@@ -8220,6 +8228,10 @@ paths:
               IdentityToken: "9cbaf023786cd7..."
         204:
           description: "No error"
+        401:
+          description: "Auth error"
+          schema:
+            $ref: "#/definitions/ErrorResponse"
         500:
           description: "Server error"
           schema:
@@ -9065,6 +9077,7 @@ paths:
           type: "boolean"
           default: false
       tags: ["Volume"]
+
   /volumes/prune:
     post:
       summary: "Delete unused volumes"
@@ -10083,7 +10096,7 @@ paths:
           required: true
           schema:
             type: "object"
-            title: "SwarmJoinRequest"
+            title: "SwarmInitRequest"
             properties:
               ListenAddr:
                 description: |
@@ -10182,7 +10195,7 @@ paths:
           required: true
           schema:
             type: "object"
-            title: "SwarmInitRequest"
+            title: "SwarmJoinRequest"
             properties:
               ListenAddr:
                 description: |
diff --git a/docs/api/v1.41.yaml b/docs/api/v1.41.yaml
index 1730498111..0b9e655900 100644
--- a/docs/api/v1.41.yaml
+++ b/docs/api/v1.41.yaml
@@ -823,13 +823,13 @@ definitions:
         description: |
           Log contains the last few results (oldest first)
         items:
-          x-nullable: true
           $ref: "#/definitions/HealthcheckResult"
 
   HealthcheckResult:
     description: |
       HealthcheckResult stores information about a single run of a healthcheck probe
     type: "object"
+    x-nullable: true
     properties:
       Start:
         description: |
@@ -2325,6 +2325,8 @@ definitions:
         type: "string"
       error:
         type: "string"
+      errorDetail:
+        $ref: "#/definitions/ErrorDetail"
       status:
         type: "string"
       progress:
@@ -4599,6 +4601,7 @@ definitions:
       ContainerState stores container's running state. It's part of ContainerJSONBase
       and will be returned by the "inspect" command.
     type: "object"
+    x-nullable: true
     properties:
       Status:
         description: |
@@ -4656,7 +4659,6 @@ definitions:
         type: "string"
         example: "2020-01-06T09:07:59.461876391Z"
       Health:
-        x-nullable: true
         $ref: "#/definitions/Health"
 
   ContainerWaitResponse:
@@ -6224,7 +6226,6 @@ paths:
                 items:
                   type: "string"
               State:
-                x-nullable: true
                 $ref: "#/definitions/ContainerState"
               Image:
                 description: "The container's image ID"
@@ -7036,7 +7037,8 @@ paths:
           type: "string"
         - name: "signal"
           in: "query"
-          description: "Signal to send to the container as an integer or string (e.g. `SIGINT`)"
+          description: |
+            Signal to send to the container as an integer or string (e.g. `SIGINT`).
           type: "string"
           default: "SIGKILL"
       tags: ["Container"]
@@ -8431,6 +8433,10 @@ paths:
               IdentityToken: "9cbaf023786cd7..."
         204:
           description: "No error"
+        401:
+          description: "Auth error"
+          schema:
+            $ref: "#/definitions/ErrorResponse"
         500:
           description: "Server error"
           schema:
@@ -9278,6 +9284,7 @@ paths:
           type: "boolean"
           default: false
       tags: ["Volume"]
+
   /volumes/prune:
     post:
       summary: "Delete unused volumes"
diff --git a/docs/api/v1.42.yaml b/docs/api/v1.42.yaml
index cda2827619..d8d846cb31 100644
--- a/docs/api/v1.42.yaml
+++ b/docs/api/v1.42.yaml
@@ -1122,6 +1122,7 @@ definitions:
               remapping option is enabled.
           ShmSize:
             type: "integer"
+            format: "int64"
             description: |
               Size of `/dev/shm` in bytes. If omitted, the system uses 64MB.
             minimum: 0
@@ -2343,6 +2344,8 @@ definitions:
         type: "string"
       error:
         type: "string"
+      errorDetail:
+        $ref: "#/definitions/ErrorDetail"
       status:
         type: "string"
       progress:
@@ -8725,6 +8728,10 @@ paths:
               IdentityToken: "9cbaf023786cd7..."
         204:
           description: "No error"
+        401:
+          description: "Auth error"
+          schema:
+            $ref: "#/definitions/ErrorResponse"
         500:
           description: "Server error"
           schema: