Submodule authentication requires that the parent repository access and the submodule must use the same protocol. Command line git authentication for HTTP and HTTPS supports username / password credentials. Command line git authentication for ssh supports private key credentials.
In this example, the token is a username / password credential. It can be used to clone the repository with HTTP and HTTPS but cannot be used to clone the repository with ssh. The clone error message indicates that the repository is being cloned with ssh. A private key credential is needed to clone that submodule.