Usually this is because a required parameter is missing or the Inventor template file cannot be found.
I found this same issue here.
To Publish custom assembly from Infrastructure Parts Editor to Civil 3D, follow the below steps:
- Make sure the Inventor templates are saved in a local location with editing rights to it. Move the templates if necessary.
- Delete the template from Infrastructure Parts Editor by following the steps in this article: How to remove Inventor templates from Infrastructure Parts Editor.
- Add the template back, create an assembly, and publishing again.
This thread will help you further.