This issue occurs when disk uuid of the replicated disk is not removed from vrmsdb. This is seen on VMs that were replicating and then reconfigured again due to some reason.
From the error, you can identify that the diskuuid is 6000C294-9a09-acfa-ada3-eb573019c9c2.
A generic error occurred in the vSphere Replication Management Server. Exception details: 'Failed to resolve replication target disk for com.vmware.hms.db.entities.DiskEntity@1872677552 : replicatedDiskId=RDID-e5c8acb6-eb8e-414a-afc6-c34dac194eda, deviceKey=2000, sourceDiskFileName = [Datastore] VM_NAME/ VM_NAME.vmdk, diskUUID = 6000C294-9a09-acfa-ada3-eb573019c9c2, destinationDatastoreMoid = datastore-864, destinationPath = VM_NAME, destinationDiskFileName = VM_NAME.vmdk, storageProfileId = null, capacityInKb = 83886080, isExcluded = false, destinationDiskType = thin, adapterType = lsiLogic, isOfflineCopy = false, vm = com.vmware.hms.db.entities.SecondaryVirtualMachineEntity: MoId = HMSVM-67159b72-cec9-4fb1-b8e2-a9d87aba67e8'.