I think the error is pretty clear. The final confirmation from your company is awaiting. While registering on DEP portal/ Apple Business Manager, you must have entered the information about the signing authority of your company, along with their designation and contact details.
Apple will get in touch with them for verification over email or phone. The trust profile you have mentioned is for MDM, confirmation from the company is for Apple Business Manager/DEP.
You can enroll any device into MDM, with or without supervision. For doing it along with DEP supervision, you have to follow the entire Apple verification process. You can refer to Apple Business Manager documentation and check if you have completed all steps mentioned in the set up.