Error in tp interface (error &)

What causes this issue?

There was an error when calling the transport program tp. The error
numbers have the following meanings:
tp command is not supported
Invalid tp command
Missing parameter
Invalid parameter
Could not access TPPARAM
Could not update tp destination
TMS information missing
Missing authorizations
Could not call tp
Could not insert in TPSTAT
Could not insert in TPLOG
Other error

System Response

The system could not release the transport requests. Find out the cause
of the error and release the requests again.

How to fix this error?

The errors <ZH>Missing parameter</> or <ZH>Invalid parameter</> may be
caused by incorrect R3trans options. Check these settings.
Your first step is to complete any missing authorizations. Contact the
system administrator.
All other problems are caused by an incorrectly configured Change &
Transport System. Check the configuration with Transaction <ZH>STMS</>
(Transport Management System). Make sure that the transport tools are
working correctly and can be called by the system.
If errors only occur on certain application servers, release the
requests on an application server that can access the transport tools.

The system issues an error message and will not allow you to continue with this transaction until the error is resolved.

Procedure for System Administrators

Error message extract from SAP system. Copyright SAP SE.