ScheduleOSUpdate command fails

When pushing the “ScheduleOSUpdate” command to a Supervised MDM enrolled iPad device, command fails with the following error.

Available OS Update response

  <key>AvailableOSUpdates</key>
	<array>
		<dict>
			<key>AllowsInstallLater</key>
			<false/>
			<key>Build</key>
			<string>20G75</string>
			<key>DownloadSize</key>
			<integer>4456890240</integer>
			<key>HumanReadableName</key>
			<string>iOS 16</string>
			<key>InstallSize</key>
			<integer>467664896</integer>
			<key>IsCritical</key>
			<false/>
			<key>ProductKey</key>
			<string>iOSUpdate20G75</string>
			<key>ProductName</key>
			<string>iOS</string>
			<key>RestartRequired</key>
			<true/>
			<key>Version</key>
			<string>16.6</string>
		</dict>
	</array>
	<key>CommandUUID</key>
	<string>AvailableOSUpdates</string>
	<key>Status</key>
	<string>Acknowledged</string>

ScheduleOSUpdate command

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
	<key>CommandUUID</key>
	<string>ScheduleOSUpdate</string>
	<key>Command</key>
	<dict>
		<key>RequestType</key>
		<string>ScheduleOSUpdate</string>
		<key>Updates</key>
		<array>
			<dict>
				<key>ProductKey</key>
				<string>iOSUpdate20G75</string>
				<key>InstallAction</key>
				<string>Default</string>
				<key>ProductVersion</key>
				<string>16.6</string>
			</dict>
		</array>
	</dict>
</dict>
</plist>

ScheduleOSUpdate command response

<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
	<key>CommandUUID</key>
	<string>AttemptOSUpdate</string>
	<key>Status</key>
	<string>Acknowledged</string>
	<key>UDID</key>
	<string>****</string>
	<key>UpdateResults</key>
	<array>
		<dict>
			<key>ErrorChain</key>
			<array>
				<dict>
					<key>ErrorCode</key>
					<integer>12057</integer>
					<key>ErrorDomain</key>
					<string>MCMDMErrorDomain</string>
					<key>LocalizedDescription</key>
					<string>The update failed to download.</string>
					<key>USEnglishDescription</key>
					<string>The update failed to download.</string>
				</dict>
				<dict>
					<key>ErrorCode</key>
					<integer>2202</integer>
					<key>ErrorDomain</key>
					<string>DeviceManagement.error</string>
					<key>LocalizedDescription</key>
					<string>A download failed.</string>
				</dict>
				<dict>
					<key>ErrorCode</key>
					<integer>31</integer>
					<key>ErrorDomain</key>
					<string>com.apple.softwareupdateservices.errors</string>
					<key>LocalizedDescription</key>
					<string>The operation couldn’t be completed. (com.apple.softwareupdateservices.errors error 31.)</string>
				</dict>
			</array>
			<key>InstallAction</key>
			<string>Error</string>
			<key>ProductKey</key>
			<string>iOSUpdate20G75</string>
			<key>Status</key>
			<string>DownloadFailed</string>
		</dict>
	</array>
</dict>
</plist>

As seen in the AvailableOSUpdate response, this device is applicable for iOS 16 update but unable to update manually as well as via MDM.

The device has the following message showing up, is there any relation between the MDM command failing and this message. This iPad device is currently running "12.1.4" OS version

Kindly confirm the reason for this message and the reason for this failure via MDM.

And also confirm if there are any restrictions to update to certain major OS versions from lower OS versions, if so kindly share any documentation available regarding this.