Hi
This message is telling us that your account setting is mandatory at least one authentication method for each recipient in all envelopes. Authentication method can be a Phone Authentication, SMS Authentication, and Knowledge-Based ID checks, for example.
If you have an Admin profile and would like to change this setting to “optional” or “none”, you can access Settings > Security Settings > Recipient Authentication Settings (under Authentication Settings).

Please, check this article to get more information: Authentication Settings
I hope I answered your question! Let me know if there's anything else!
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