Had this exact problem when I moved the hard drive to a new chassis on an Azure Joined machine.
Made sure that TPM was enabled in the BIOS on the new hardware.
Suspended BitLocker first, then put the drive in the new chassis. Resumed Bitlocker.
Open an administrative command prompt.
Type the following commands:
dsregcmd /leave
dsregcmd /status and verify AzureAD joined is NO
dsregcmd /join If it's not working, simply logoff and logon to Windows again.
dsregcmd /status and verify AzureAD joined is YES
Logoff then logon (or Reboot)
The problem appears that the keys are stored in the TPM chip,
so when you move the drive to a new chassis (without the keys in TPM), you get this error.