Hi,
What the error says is that vRO is trying to communicate with vCenter server instance passing CSP tokens for authentication. Unfortunately, vCenter cannot work with this type of token, hence the calls will fail.
vRO server can be configured with two distinct types of authentication - vSphere (SAML tokens) or vRA (CSP tokens). When you execute the workflow 'Add vCenter server instance, there is an option to choose to use either 'session-per-user' or 'shared session' mode. In the former case, vRO will use authentication tokens that match the vRO server authentication configuration, and if the vRO is configured with vRA authentication (CSP tokens), it will not be able to communicate with vCenter.
The fix is easy - in deployments where vRO is configured with vRA authentication, you'll need to add the vCenter server instance using 'shared session' mode.