The 5004 error is DD_ERR_UNMATCHED, meaning that it was unable to match a backup file in the location that was configured in the backup directory in the gprestore plugin-config file.
Check on the Data Domain the location reported in the error for the backup file. For example:
July_2020/20200708/20200708170923/gpbackup_20200708170923_config.yaml
Actual Location:
/data/col1/July_2020/20200708/20200708170923/gpbackup_20200708170923_config.yaml
Correct the backup directory in the gprestore plugin-config file with the correct location or move the backup to the location that it is expecting.