Log into CA SDM with an Administrator, navigate to the Administration tab, then select Security and Role Management -> Support Automation Access Control.  By default there is one "Analyst" based Access Level defined, which is called "Analyst".

Click on the "Analyst" to open Analyst Support Automation Access Level Detail windows.
In "Queues" tab - this will display a list of all assigned Queues. 
In "Transfer Target Queues" tab. The error "No transfer target queues configured" is about this area not configured. It should have the related Queue and not empty. Click the 'Update Target Queues' button to configure it.