Are you doing the managed flow or bare workflows?
I didn't get this exact message, but I got many that are similar. (I'm using a Managed flow). Likely culprit is a gap in your Firebase Cloud Messaging setup.
Be sure to review all the instructions expo here: https://docs.expo.dev/push-notifications/using-fcm/
I also added a response to an existing SO documenting some of my stumbling blocks which may be affecting you as well. That is here: Exception occurred while executing exported method getDevicePushTokenAsync on module ExpoPushTokenManager