MacOS High Sierra Critical Update Loop MacBook Pro 2016 Touch Bar

I am stuck in this critical update loop for few days now. It asks for an critical update so connect to a wifi connection. But when I connect it was not able to do the update and gives me only 2 options either shut down or try again. But try again means again the failure message. So this is the loop I am facing now.

I saw that other people have the same issue and some were successful in solving it using methods like using SMC reset or reinstalling the OS. That did not work for me either. I clean wiped the disk and reinstalled from scratch. But also gave me the same error. I am able to boot into safe mode fine. But normal mode always gives me the critical update loop.

Some one had posted about some kernel level things like launch daemons or launch agents that might affect the work of the Touch Bar OS that might cause this issue. Can some one please guide me with a solution to this problem. Does someone has some idea what daemons may I remove to stop this from happening ? please give me a solution