Same error here. 19 MBP. After some digging it seems to be related to bridgeOS (T2 chip) version. Not sure if it's a bug... That's why reviving device using Apple Configurator 2 may work (see this post - https://developer.apple.com/forums/thread/655569?answerId=624465022#624465022)
albertaki
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OK I managed to solve the problem by reviving the device following this guide: https://support.apple.com/en-gb/guide/apple-configurator-2/apdebea5be51/mac