Hello,
In order to apply a GPO the service "Group Policy Client" need to have read access (This service runs as Local System so the computer need to have read access).
A GPO is divided in two parts an Active Directory part (AD Object) and file system part (SYSVOL). Based on the message you should check on GPMC if at least Authenticated Users (Computer object are part of "Authenticated Users" group) have read access to the GPO
After that check on SYSVOL if at least Authenticated Users have read access to Unique ID corresponding to your GPO (You can find it on details in GPMC)
Regards,