The error is caused by the incompatibility between TAP version and
tanzu apps CLI plugin version. To fix the issue, it's necessary to update the tanzu CLI and the plugins.
1 - Check
VMware Tanzu CLI Reference to confirm the Tanzu CLI compatibility list.

2 - Taking TAP v1.5 as an example: From the compatibility list above, we know that TAP v1.5 is compatible with Tanzu CLI v0.28.1.
3 - Click
Instructions hyperlink, which will redirect you to the page of
Install or update the Tanzu CLI and plug-ins. Follow the instruction to download the required tar file and run
tanzu plugin install --local cli all to update the CLI plugins.
4 - Use command
tanzu plugin list to confirm that all CLI plugins are up to date.