You do not have permission to open the application “XXX.app”.

You should not need to use the command line to authorize third party apps.

The easiest way to open a third party app that does not automatically open normally is by Right-clicking or Control-clicking the app and selecting "Open" from the pop-up menu. You will be asked if you are sure you want to open this app.

If you try to open the app normally and nothing happens, then go to the Security & Privacy System Preferences and clicking the "Allow" or "Open Anyway" button.

Safely open apps on your Mac - Apple Support

Allow apps to control other apps on Mac - Apple Support

Try booting into Safe Mode to try launching the app. Safe Mode prevents third party software from launching automatically during boot & login. If this works, then you have some third party software installed which is interfering with the normal operation of macOS. Usual culprits are anti-virus apps, cleaning/optimizer apps, and third party security software...none of which are needed on a Mac and which usually cause more problems than they solve.

There is a possibility that macOS has a problem. I encountered this some years ago with one of our organization's Macs and was unable to resolve it except to perform a clean install of macOS. I did try the command line utility, but it made no difference and provided no extra details...it appeared to add the app without error, but the app was never added to the approved list. I even deleted all the related .plist preference files I could find. You could try reinstalling macOS over top of itself (don't recall if I tried it or not).

Contact the developer of the app for assistance in case it is an issue with the app itself.