It seems that this error appear when the refresh token has expired or has been invalidated.
To fix this issue, I use the following code in my app.component
this._auth.error$.pipe(
takeUntil(this._destroy$),
filter((e) => e instanceof GenericError && (e.error === 'login_required' || e.error === 'invalid_grant')),
mergeMap(() => this._auth.logout({
logoutParams: {
returnTo: '<logoutUrl>'
}
}))
).subscribe();