Getting exception GcpIamAuthentication ClientAuthentication must implement AuthenticationStepsFactory

Question

I am using spring-boot-parent 2.6.3 and spring-vault-config 3.1.0

    <spring-vault-config.version>3.1.0</spring-vault-config.version>
<dependency>
    <groupId>org.springframework.cloud</groupId>
    <artifactId>spring-cloud-starter-vault-config</artifactId>
</dependency>
<dependency>
    <groupId>org.springframework.cloud</groupId>
    <artifactId>spring-cloud-vault-config</artifactId>
    <version>${spring-vault-config.version}</version>
</dependency>
<dependency>
    <groupId>org.springframework.cloud</groupId>
    <artifactId>spring-cloud-starter-bootstrap</artifactId>
</dependency>
<dependency>
    <groupId>com.google.apis</groupId>
    <artifactId>google-api-services-iam</artifactId>
    <version>v1-rev316-1.25.0</version>
</dependency>
<dependency>
    <groupId>com.google.auth</groupId>
    <artifactId>google-auth-library-oauth2-http</artifactId>
    <version>1.4.0</version>
</dependency>
<dependency>
    <groupId>com.google.oauth-client</groupId>
    <artifactId>google-oauth-client</artifactId>
    <version>1.33.0</version>
</dependency>

bootstrap.yml

spring:
  config:
    activate:
      on-profile: dev
  cloud:
    vault:
      uri: https://vault url
      namespace: <namespace>
      authentication: GCP_IAM
      fail-fast: true
      connection-timeout: 3000
      read-timeout: 120000
      generic:
        enabled: true
        profile-separator: '/'
        backend: kv
        default-context: appName
        application-name: appName
      config:
        order: -1000
      gcp-iam:
        role: dev-role
        project-id: <project-id>
        service-account-id: <service-accoutn-iam.gserviceaccount.com>
      enabled: true

I am trying to connect to Vault using GCP_IAM authentication and provided service account, iam role and project details. When I start the spring boot application from my GKE cluster, I am getting the following error:

"Exception encountered during context initialization - cancelling refresh attempt: org.springframework.beans.factory.BeanCreationException: Error creating bean with name 'reactiveVaultTemplate' defined in class path resource [org/springframework/cloud/vault/config/VaultReactiveBootstrapConfiguration.class]: Bean instantiation via factory method failed; nested exception is org.springframework.beans.BeanInstantiationException: Failed to instantiate [org.springframework.vault.core.ReactiveVaultTemplate]: Factory method 'reactiveVaultTemplate' threw exception; nested exception is org.springframework.beans.factory.BeanCreationException: Error creating bean with name 'reactiveVaultSessionManager' defined in class path resource [org/springframework/cloud/vault/config/VaultReactiveBootstrapConfiguration.class]: Bean instantiation via factory method failed; nested exception is org.springframework.beans.BeanInstantiationException: Failed to instantiate [org.springframework.vault.authentication.ReactiveSessionManager]: Factory method 'reactiveVaultSessionManager' threw exception; nested exception is org.springframework.beans.factory.BeanCreationException: Error creating bean with name 'vaultTokenSupplier' defined in class path resource [org/springframework/cloud/vault/config/VaultReactiveBootstrapConfiguration.class]: Bean instantiation via factory method failed; nested exception is org.springframework.beans.BeanInstantiationException: Failed to instantiate [org.springframework.vault.authentication.VaultTokenSupplier]: Factory method 'vaultTokenSupplier' threw exception; nested exception is java.lang.IllegalStateException: Cannot construct VaultTokenSupplier from org.springframework.vault.authentication.GcpIamAuthentication@16a9eb2e. ClientAuthentication must implement AuthenticationStepsFactory or be TokenAuthentication"

Can you please help me resolve this issue?