The error returned appears to be related to the response from Zoho One on a SCIM POST (Create) request. Specifically, it sounds like Entra's provisioning service sends a POST and whatever response that Zoho One's SCIM endpoint returns is either syntactically incorrect or is syntactically valid but does not contain the "id" attribute for the group in Zoho One, which is a required attribute similar to Entra's objectId attribute in nature. It isn't acceptable to not return that SCIM "id" value, and if Zoho isn't returning it, that is the cause of the error.
If you aren't sure if what I described is what is happening, you should open a support case to get assistance in reviewing what has transpired between the Entra provisioning service's SCIM client and Zoho One's SCIM server.