This happens when you are trying to push/pull an image on a repository in which its specific hostname (associated with its repository location) is not yet added to the credential helper configuration for authentication.
For the gcloud credential helper or standalone credential helper, the Artifact Registry hosts you use must be in your Docker configuration file.
Artifact Registry does not automatically add all registry hosts to the Docker configuration file. Docker response time is significantly slower when there is a large number of configured registries. To minimize the number of registries in the configuration file, you add the hosts that you need to the file
You need to configure-docker while impersonating your service account ($SERVICE_ACCOUNT_EMAIL):
1. Run the following command to make sure you are still impersonating $SERVICE_ACCOUNT_EMAIL:
$ gcloud auth list
If the service account is not impersonated then run the following command:
$ gcloud auth activate-service-account \ "$SERVICE_ACCOUNT_EMAIL" \ --key-file=$SERVICE_ACCOUNT_JSON_FILE_PATH
2. Run the configure-docker command against the auth group:
$ gcloud auth configure-docker <location>-docker.pkg.dev
3. Finally, try pulling the Docker image again.
Refer Authenticating to a repository and stackpost for more information.