I'm having the same issue. This was working for me before. I switched to an upgraded Macbook and VSCode from 11->12. I have the APNs key generated and loaded into Firebase per instructions. But I'm getting this error when trying to push messages from a cloud function:
messaging/third-party-auth-error.
I've checked out everything in this post and it still doesn't work.
https://stackoverflow.com/questions/55977827/firebase-error-auth-error-from-apns-or-web-push-service
Anything else I should be checking?