"AssertionException: Assertion failure. Value was False" is thrown creating a joint

How to reproduce:
1. Open the user's attached project
2. Enter Play Mode
3. Move the mouse to the bottom of the Game view window
4. Click on the "Tower" button
5. Click on the cube in the Game view

Expected results: No errors are thrown in the Console window
Actual results: "AssertionException: Assertion failure. Value was False" is thrown

Reproducible with: 1.0.16, 1.2.0-exp.3 (2022.3.14f1)

Reproducible on: Windows 10 22H2
Not reproducible on: No other environment tested