You have a hardware issue of some sort with the laptop which is affecting the Touchbar. Most likely the Touchbar and/or the Logic Board has a hardware issue, but even the built-in camera/Display can cause the problem. Some users claimed they were able to resolve the issue by reinstalling macOS over top of itself, but I'm skeptical, but maybe something caused the hidden EmbeddedOS file to become damaged. All cases I have personally seen with this error message while supporting my organization's Macs have been due to hardware issues.
The problem is that macOS is unable to upload the EmbeddedOS to the Touchbar (the Touchbar requires a special OS to be installed at every boot). If macOS is unable to upload the EmbeddedOS to the Touchbar, then macOS deletes the local copy from a hidden area of the internal SSD and must download a new copy. This laptop will not boot normally until macOS is able to both download a new copy of the EmbeddedOS from Apple's servers and successfully upload it to the Touchbar. The only way you can boot this laptop now is by booting into Safe Mode where the Touchbar is disabled. This can allow you to make sure you have a current backup of your data (I really hope you already have backups since there are so many new ways to permanently lose access to the data on the internal SSD with these USB-C Macs due to all the hardware, software, and security changes).
You can try running the Apple Diagnostics to see if any hardware issues are detected. Unfortunately the diagnostics don't always detect problems. If the diagnostics do report an issue, then you know you have a hardware issue.
Personally I would not spend any money on repairs of the 2016-2020 Intel Macs since I feel the money is better spent going towards a new laptop.