I ran down this issue for some time. This is a follow-up to my resolution. The issue was the result of my graphic card driver was not up-to-date. ASUS PRIME x470-PRO (mobo), BIOS Ver. 5861, AMD Ryzen 5 2600x, NVIDIA GeForce GT1030. I purchased my GT1030 from Gigabyte. The correct driver was recently (Dec 15, 2021) updated on Gigabyte website. Since installation of the up-to-date graphic card driver, the issue has been resolved - complete attestation, no TPM SCEP Certificate enrollment error w/ Evend ID 86 i.e. complete resolution.
NOTE: Double-check ALL h/w drivers not simply via Windows Update, double-check all h/w drivers from the device manufacturer where you purchased the h/w device - this is critical. Good Luck.