If you have installed Windows with a local account, a key is stored in the TPM chip.
If later, you log in with a Microsoft account, for some reason, the TPM key does not reset.
In order to fix this error, Open Settings -> Update & Security -> Windows Security -> Open Windows Security
Then go to Device Security and under Security processor, click Security processor details.
Then click Security processor troubleshooting and click Clear TPM then Clear and restart.
Once Windows restarts, you will be prompted to reset your PIN. It will ask you to log in and reset the PIN.
Now no more Autopilot errors.