Other Configuration Manager-related features and issues
I ran into the same error. There are two steps I had to execute.
Confirm that the computer authentication certificate chain of the client and the SCCM primary server are the same.
In my case it was different. Reason, a new CA was introduced in the environment which was now issuing the client certificate. This new CA was co-existing with the old CA at this time.
From the client certificate (the one with the new cert) , I exported the Root separately. I also exported the entire chain.
The root was in the .cer format and I added it under client communication in site properties under administration.
The chain I imported on the SCCM server.
The server continues to function with the cert from the old CA but now has the capability to authenticate communication from clients which are getting the cert from the new CA.
Hope this helps.