It looks like an error is thrown when the CLI tried to call the /api/v1/authorizationServers endpoint as follows: You do not have permission to access the feature you are requesting
You are seeing this error because, while your dev-* org has the API Access Management feature that allows you to use/manage Custom Authorization Servers associated with that endpoint, but this is a paid feature for Production orgs and your company’s org likely lacks this feature. At this time, the CLI is designed around orgs that do have this feature, so you will not be able to use the CLI with this org unless you get the missing API Access Management SKU.