WORKAROUND Since the native synchronization between iCloud and Outlook is currently unstable and prone to errors (such as the "folder doesn't support reminders" error or log failures), the most reliable solution right now is to bypass the iCloud sync engine entirely and use the Microsoft Exchange backend directly on the iPhone/Mac.
This is not a fix for the iCloud software bug, but a method to achieve the same result (tasks on iPhone, Mac, and PC) without errors.
The Steps:
On your iPhone, go to Settings > Reminders > Accounts. Ensure your Microsoft/Outlook account is added and the Reminders toggle is switched ON.
Go back to the main Settings > Reminders menu and tap on Default List.
Change the selection from your iCloud list to a list under your Microsoft/Outlook account (usually named "Tasks").
The Result: You can continue using the native Apple Reminders app, iOS Widgets, and Siri exactly as before. However, the data is now saved directly to the Microsoft server. This means your tasks will appear instantly in Microsoft To-Do and Outlook on your PC, completely avoiding the broken iCloud for Windows synchronization bridge. This also works perfectly on macOS by adding the Exchange account in System Settings.
Limitations: Please note that by moving your lists to Microsoft Exchange, you will lose the ability to share lists via the native Apple iCloud sharing method. To share lists, you must use the sharing features within Microsoft To-Do.