Did anyone ever find a solution to this? We just had this happen on one device. The device in question restarted while doing the configuration. At that point I tried to re-register through the setup assistant (received the same error) and the removed the device from the JSS and still received the message.
This is happening on one out of our 650-ish devices in the JSS.
I get this once and a while, sometimes I can never resolve it. I just had it happen with an iPad Pro. DFU wiped at least 4 times now. Same issue. JAMF creates a partial device record each time. I delete it before going through the process again. Have tried different and new Prestage Enrollments. Frustrating as H**k