I ran into the same problem as user from https://forum.proxmox.com/threads/vm-console-require-vm-audit.116176/
It turns out that while this issue were fixed in noVNC console, it still appears in xtermJS
in case of noVNC works perfectly fine at https://url:8006/?console=kvm&novnc=1&vmid=VMID&vmname=NAME&node=NODE&resize=off&cmd=
in case of xtermjs gives: Connection failed (Error 403: Permission check failed (/vms/VMID, VM.Audit))
at https://url:8006/?console=kvm&xtermjs=1&vmid=VMID&vmname=VMNAME&node=NODE&cmd=
It turns out that while this issue were fixed in noVNC console, it still appears in xtermJS
in case of noVNC works perfectly fine at https://url:8006/?console=kvm&novnc=1&vmid=VMID&vmname=NAME&node=NODE&resize=off&cmd=
in case of xtermjs gives: Connection failed (Error 403: Permission check failed (/vms/VMID, VM.Audit))
at https://url:8006/?console=kvm&xtermjs=1&vmid=VMID&vmname=VMNAME&node=NODE&cmd=