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You need to wipe the device and in some cases even download the OS again.

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titleCheck these guide from Apple: 

Restore your iOS or iPadOS device in iTunes on PC

Restore your iOS device in iTunes on Mac

During initial setup, answer no to update automatically. If you have a device with this error, it will properly get stuck in this state and you will have to wipe it an start all over.

You can also skip it in the DEP profile.


Tip
titleCheck these guide from Apple: 


Restore your iOS or iPadOS device in iTunes on PC

Restore your iOS device in iTunes on Mac