I am using the UiPathTeam.SharePoint.Activities on a windows legacy project to connect to SharePoint and I experiencing this authentication error. The bot has been running fine using this method for a long time until it failed 2 days back.
We upgraded the bot to 23.4.2 version from 21.4.4 version. few months back
Sharepointteam activities have not been upgraded from almost 2 years …there can be many potential reqsons for the error…better to migrate to office 365
If you still want to diagnose…then run in debug and check the locals pane if you can get more info