For those that end up in this thread when searching for the error below, I've specified the exact solution you can apply. Note: the solution presumes all other deployment requirements are met.
Preliminary checks failed. Task Registering Error. The request is not supported. (Exception from HRESULT: 0x80070032)
On Windows 10.0+ machines (10, 11, 2019, 2022), execute the following PowerShell script as admin on your deployment targets if you're receiving the error above.
Set-NetFirewallRule -DisplayGroup "Remote Scheduled Tasks Management" -Enabled True
Depending on your deployment Run Mode, you may also receive a different error, with the same solution. Run mode SYSTEM results in:
Preliminary checks failed. Task Registering Error. The task has been configured with an unsupported combination of account settings and run time options. (Exception from HRESULT: 0x80041314)