Your post + the new iOS 15.1 beta3 motivated me for some evening testing...
I was able to reproduce the known error message (see below) with iOS 15.1 beta2. So my last test just wasn't long enough or something else went wrong with half attention.
Will continue with beta3 after installation
Going to answer to TSI tomorrow morning (CEST) and I would include any further evidence you post here.
standard 20:56:47.339932+0200 dasd com.apple.healthkit.background-delivery.tld.domain.app:id1:[ {name: ApplicationPolicy, policyWeight: 50.000, response: {Decision: Must Not Proceed, Score: 0.00}} ], FinalDecision: Must Not Proceed}