Undefined error (01HH1H8SQJR50MM4TAVVJC3G75) when using components as part of yaml ci/cd

Summary

Unable to use components as part of CI/CD, when pipelines runs, it returns an undefined error and does not point to the root cause of the error (in case there is a real error). I am currently using self-managed v16.6.1-ee

Steps to reproduce

1. Create a project to host your component

spec:
  inputs:
    stage:
      default: test_step
---


test-stage:
  stage: $[[ inputs.stage ]]
  before_script: []
  after_script: []
  script:
   - echo test

2. Create a project to use your component

include:
  - component: 'gitlab.self-managed/group1/test-component/templates/test-template-ci.yml@master'

3. Save, when the pipeline runs it will fail with the following error:

Undefined error (01HH1H8SQJR50MM4TAVVJC3G75)

Please note: I am not publishing the component to the CI/CD catalogue, also the CI/CD Catalog resource option is not available on this version. But according to the documentation I should be able to use the component without publishing it.

What is the current bug behavior?

When pipeline runs it gives this generic error: Undefined error (01HH1H8SQJR50MM4TAVVJC3G75)

What is the expected correct behavior?

Properly points to the root cause of the error