I know this post is over a year old at this point but I figured it might help others to post the solution I just came to.
The PC I had this error on had full disk encrypted and secure boot set but was still giving the error. It was an older computer with a v1.2 TPM chip instead of 2.0. When I went to TPM Administration through the Bitlocker setup screen it said that the TPM was not ready for use despite saying it was activated in BIOS. To fix this I cleared the TPM in TPM Admin and let the computer re-enable it after which the computer was reporting the TPM as ready to use and the error was resolved when the computer next checked in. Note that at least in my case the error did clear on the user account associated with it until the user had logged in and the computer synced again.