Although there is a temporary workaround to get rid of the error, which is to set the value of pxc-strict-mode to DISABLE manually:
mysql> SET GLOBAL pxc_strict_mode=DISABLED;
Query OK, 0 rows affected (0.00 sec)
mysql> SHOW VARIABLES LIKE "pxc_strict_mode";
+-----------------+----------+
| Variable_name | Value |
+-----------------+----------+
| pxc_strict_mode | DISABLED |
+-----------------+----------+
1 row in set (0.00 sec)
However, this value will be reverted back to MASTER is the VM is restarted or recreated. Also, disabling the pxc-strict-mode is not discouraged by Percona (The vendor that provides this HA topology) as the pxc-strict-mode is an important safety guard.
Therefore, to safely work around this issue, add a primary key or a unique (not null) key to this table. There are other implications to not doing that that could have performance or data integrity implications for replication.