WebAuthn aborts because the configured “Relying Party ID” (rpId) does not match the current page’s origin (domain). WebAuthn is strict: the rpId must be either exactly the current hostname or a parent domain of it.
In your case the WebAuthn ceremony runs on https://sts.lab.mfa (ADFS), so valid rpId values are:
sts.lab.mfa (recommended if WebAuthn is only used via ADFS), or
lab.mfa (if the same credential should be valid across all subdomains of lab.mfa)
Please check the privacyIDEA policy (e.g. webauthn_relying_party_id) and ensure it matches.
Note: if you change the rpId, existing WebAuthn credentials must be re-enrolled because they are bound to the rpId.