I also got this error and I noticed the part cooling fan was dropping the hotend temperature drastically and the PID loop had a hard time catching-up before the time threshold for the [verify_heater extruder] safety measure.
In order to “temporarily” work around the problem, I reduced the max speed of the fan in my slicer to 60%. I also altered the max_error parameter to a very high number in the [verify_heater extruder] section. See this link: [klipper | Klipper is a 3d-printer firmware]
As a proper solution, I will try to tune the PID controller of my hotend and re-enable the verify_heater extruder safety feature.