Interesting. I'll see if I can get similar errors, but I'm short for time today.
Some of the many mistakes I make include:
(1) Forgetting to run the application in the /Applications folder
(2) Leaving behind an old System Extension from a previous run. From the Terminal, run
systemextensionsctl list
to see what is there and enabled. I think I've had problems when the build number for the network system extension that is installed is older than the current build number for the new network system extension.
Sometimes, when I get a lot of old ones, I reboot my Mac to clean out the terminated system extensions.
(3) Making sure "System Extension" capability is added to the main app's Signing & Capabilities section (it should be for the SimpleFirewall app already)
(4) Run it only on the machine you compile it on, or go through a dance of getting and installing provisioning profiles (including specifying the machines that you want to test on). (This may be only needed for the endpoint system extensions; not certain).
(5) I think I once ran into a situation where my devices I added to the provisioning profile had expired, but I don't see expiration dates on the devices now at the portal.
Regarding disabling SIP, I think (but not certain again) that may only be needed with the endpoint system extension until your organization gets the endpoint capability granted from Apple.
I am confused about the warning about "com.apple.developer.endpoint-security.client" you received. I don't think that is needed for network system extension for the firewall.