This error occurs when Windows agents' time isn't synced.
Windows agents that are part of an Active Directory domain automatically have their time synchronized with AD.
For agents that are not part of an AD domain, enable and add the Windows time service manually:
w32tm /register
net start w32time
w32tm /config /manualpeerlist:<ntpserver> /syncfromflags:manual /update
w32tm /resync