@fierce-pizza-25506 try double checking the information you entered in the Pulumi console (project number, workload pool ID, identity provider ID, and region - defaults to global). You'll get this error if those are incorrect.
It's confusing but this is actually a higher level token that has an incorrect audience, not the one where your org will be the subject. Pulumi generates this higher level token audience in
the format described here based on what you enter in the fields in Pulumi.