The error is seen because file required to grant permissions to SoS is not available in /etc/sudoers.d dir
Follow the below steps to resolve the issue:
login to sddc-manager
Change to root user
Run below command on sddc-manager
mv /opt/vmware/sddc-support/sos_sudoers /etc/sudoers.d/sos_sudoers
Switch to 'root' user in SDDC manager and invoke SoS operations again or retry after applying resolution.
VMware is aware of this issue and working to resolve this in a future release.