CICD Pipeline Using Azure DevOps ##[error]No agent found in pool RPA Test-JOY which satisfies the specified demands: npm, Agent.Version -gtVersion 2.163.1

You may take a look at these articles as it seems that you misconfigured your agent pool in the Azure DevOps:

Try to see and adapt the solution for your encountered behavior as it is mentioned in this video:

Example of adding the Capability for your npm in the Agent Pool: