I have tooled our integration invoice system in HubSpot and have previously conducted tests that resulted in successful draft invoices in our QBO instances. However, when I was conducting tests yesterday, I received this error.
I've had a look in our support cases and seen that other customers got this error if the option 'Custom transaction numbers' was enabled in their Quickbooks settings: Account and Settings > Sales. This must be turned off for HubSpot to be able to create invoices in QuickBooks. I found this resource on a QuickBooks forum which may be helpful.