The earliest recollection of this bug is traced back to PAN-OS 8.1.15 - January 09, 2024.
This bug is fixed in PAN-OS versions 8.1.15.
Fixed an issue where Panorama was unable to access api.threatvault.paloaltonetworks.com with the configure proxy option.
For more information:
https://docs.paloaltonetworks.com/pan-os/8-1/pan-os-release-notes/pan-os-8-1-addressed-issues/pan-os-8-1-15-addressed-issues