QuickBooks Online requires you to have a default tax rate selected before publishing any tax info. So you need to simply edit your tax settings to publish the item.
1. Scroll to the Connections section of the menu and click on Integrations.
2. Toggle the switch to turn Publish tax data to On and complete the fields with your required tax information.
3. Return to the item with the error message and now you will be able to Publish the item.