Your error message clearly states that it found a clearance that is 0.2mm, while it should be at least 0.2032mm. Is it possible you changed the differential pair gap after routing?
A possible solution is to just change the differential pair gap to 0.2mm. The difference is too small to be important.
Possibly the error also goes away is you simply delete the offending differential pair and route it again.
Also, what KiCad version are you using?
There was recently a bug in the KiCad-nightly V5.99 which uses the wrong clearance for differential pairs, but it should have been fixed about a week ago.