The certificates created by ESET Security Management Center MDM version 7.0, do not comply with Apple iOS 13 requirements.
Current ESMC MDM users
If you upgrade to iOS 13 before having the certificate, you have to re-enroll affected devices using a compliant certificate.
New ESMC MDM users
If you are going to manage Apple devices using ESMC MDM, make sure you have Apple iOS 13 compliant certificate before starting the enrollment.
Getting a compliant certificate
Obtain the Apple compliant certificate from a trusted vendor.
If you are still unable to resolve your issue, please email ESET Technical Support.