This is a general error message when there is an issue with the device enrollment. The reason for it might be some configuration error in ADE or there is an unspecified problem with the device.

Solution:

Remove the enrollment profile from the device and wait that the Enrollment profile status (Enrollment > Apple DEP) is Not assigned . Then assign the enrollment profile again to the device and reboot it. If rebooting the device does not help, do the DFU restore for the device.

Solution:

Enrolling devices may fail due to an invalid profile if you have configured the iOS Setup Assistant to hide some steps when you added the device to Apple Business/ School Manager using Apple Configurator 2. See step 7 from the Adding iOS devices to Apple Business Manager using Apple Configurator 2 article for more details.

Problem: Profile installation failed. The profile "com.miradore.profile" must be installed interactively during the DEP enrollment.

This problem typically occurs when using Quick Start option during the iOS setup on devices with iOS version 13.

Solution:

Instead of the Quick Start select the option Set up manually. The issue does not exist on iOS version 13.2.3 and above.

There are multiple reasons for this error, like wrong timezone settings on a device or some WiFi network issue.

Solution:

Reboot the device or, if that doesn't help, do the DFU restore for the device.

This error occurs when trying to update devices from Apple Business/School Manager to GoTo Resolve MDM.

Solution: 

There are a few reasons for this error.

1. There is an update on Apple Business Manager "Terms of Service", which you have not accepted.
2. The enrollment token for Apple Business Manager has expired and you need to renew it. You may do this from GoTo Resolve MDM in the System > Infrastructure diagram (Apple Device Enrollment Program).
3. The token in GoTo Resolve MDM does not match the one in Apple Business Manager. Upload the latest token to GoTo Resolve MDM by renewing it in System > Infrastructure Diagram.