Try v7.15 instead of 7.16.
User form id in the form ref field and not the form name
Update yaml file as mentioned in my post below
I tried all possible combinations that I can think of but still couldn’t display the form in the tasklist
Similar post: Form Failure - No Camunda Form Definition was found - Cockpit / Tasklist / Admin & Web - Camunda Platform Forum
My post: Camunda forms not visible v7.16 - Cockpit / Tasklist / Admin & Web - Camunda Platform Forum
In case it works for you, please reply to my post as well