Company code clearing account not found in co. code &1 for co. code &2

What causes this issue?

The 'Post to Company Code Clearing Accounts' flag is set in the posting
variant you are using. A claim/payable has been calculated between the
company codes &V1& and &V2&.
However, the company code clearing accounts betweeen the specified
company codes are not stored in the system.

How to fix this error?

Please maintain the company code clearing accounts using the
Customizing step <DS:SIMG.SIMG_CFMENUORFBOBYA>Prepare Cross-Company
Code Transactions</>.

Error message extract from SAP system. Copyright SAP SE.