Represents the instance of an action plan template. This object is available in API version 44.0 and later.
Validation Errors While Saving Record(s)
There were custom validation error(s) encountered while saving the affected record(s). The first validation error encountered was "Object Name: bad value for restricted picklist field: ActionPlanTemplate".
Insufficient Privileges
You do not have the level of access necessary to perform the operation you requested. Please contact the owner of the record or your administrator if access is necessary. For more information, see Insufficient Privileges Errors.
Please check this article.
Error 'bad value for restricted picklist field' appears when a record is created
https://help.salesforce.com/s/articleView?id=000384095&type=1