Set the failure message step after Setup Windows and ConfigMgr.
Set OSD Failure Message
REG ADD HKLM\Software\Microsoft\Windows\CurrentVersion\Policies\System /v legalnoticecaption /t REG_SZ /d “The Operating System Deployment FAILED!” /f & REG ADD HKLM\Software\Microsoft\Windows\CurrentVersion\Policies\System /v legalnoticetext /t REG_SZ /d “Please rerun the imaging task by restarting the boot media or contact the Service Desk.” /f

Remove the failure message step before the end of the Task Sequence.
Clear OSD Failure Message
REG ADD HKLM\Software\Microsoft\Windows\CurrentVersion\Policies\System /v legalnoticecaption /t REG_SZ /d “” /f & REG ADD HKLM\Software\Microsoft\Windows\CurrentVersion\Policies\System /v legalnoticetext /t REG_SZ /d “” /f