This would suggest that you have enabled iCloud Advanced Protection for either an iPad or iPhone that is running iOS/iPadOS 16.2 or later. When enabled, all of your other devices must be updated to iOS/iPadOS 15.x or later; older devices that cannot be updated to meet this minimum requirement cannot be used with your AppleID account.
How to turn on Advanced Data Protection for iCloud - Apple Support
If you wish to continue using older devices with your AppleID, you have no alternative than to disable iCloud Advanced Protection on all devices where it has been enabled. After doing so, your older devices can again be used with your AppleID account.