If this is auto-discovered, then it is a bug, as @splatch already said: the # is not a valid character in an UID and reserved for special use (channel groups).
I don’t see anything to try without # as I just click on the discovered MQTT device to add as a thing…
This is the whole log when adding this device:
2023-04-09 11:40:13.863 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPsensorntc_5Ftemperature#sensor', because channel type 'mqtt:ESPsensorntc_5Ftemperature_sensor' could not be found.
2023-04-09 11:40:13.865 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPsensorsonoff_5Fnspanel_5F_2D_5Fntc_5Fresistance#sensor', because channel type 'mqtt:ESPsensorsonoff_5Fnspanel_5F_2D_5Fntc_5Fresistance_sensor' could not be found.
2023-04-09 11:40:13.866 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPswitchsonoff_5Fnspanel_5F_2D_5Fbuzzer#switch', because channel type 'mqtt:ESPswitchsonoff_5Fnspanel_5F_2D_5Fbuzzer_switch' could not be found.
2023-04-09 11:40:13.867 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'c049effa6c24_2Dwifisignal#sensor', because channel type 'mqtt:c049effa6c24_2Dwifisignal_sensor' could not be found.
2023-04-09 11:40:13.868 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPbinary_5Fsensorlueftung_5Fkeller_5Fswitch_5F1#sensor', because channel type 'mqtt:ESPbinary_5Fsensorlueftung_5Fkeller_5Fswitch_5F1_sensor' could not be found.
2023-04-09 11:40:13.869 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPswitchstufe_5F1#switch', because channel type 'mqtt:ESPswitchstufe_5F1_switch' could not be found.
2023-04-09 11:40:13.870 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPbinary_5Fsensorlueftung_5Fkeller_5Fswitch_5F2#sensor', because channel type 'mqtt:ESPbinary_5Fsensorlueftung_5Fkeller_5Fswitch_5F2_sensor' could not be found.
2023-04-09 11:40:13.871 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPswitchstufe_5F2#switch', because channel type 'mqtt:ESPswitchstufe_5F2_switch' could not be found.
2023-04-09 11:40:13.872 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPsensorwerkstatt_5Fco2#sensor', because channel type 'mqtt:ESPsensorwerkstatt_5Fco2_sensor' could not be found.
2023-04-09 11:40:13.874 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'c049effa6c24_2Dwifiinfo_2Dbssid#sensor', because channel type 'mqtt:c049effa6c24_2Dwifiinfo_2Dbssid_sensor' could not be found.
2023-04-09 11:40:13.875 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPsensorco2#sensor', because channel type 'mqtt:ESPsensorco2_sensor' could not be found.
2023-04-09 11:40:13.876 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPswitchsonoff_5Fnspanel_5F_2D_5Frelay_5F1#switch', because channel type 'mqtt:ESPswitchsonoff_5Fnspanel_5F_2D_5Frelay_5F1_switch' could not be found.
2023-04-09 11:40:13.877 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPbinary_5Fsensorsonoff_5Fnspanel_5Fswitch_5F2#sensor', because channel type 'mqtt:ESPbinary_5Fsensorsonoff_5Fnspanel_5Fswitch_5F2_sensor' could not be found.
2023-04-09 11:40:13.879 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'c049effa6c24_2Dwifiinfo_2Dip#sensor', because channel type 'mqtt:c049effa6c24_2Dwifiinfo_2Dip_sensor' could not be found.
2023-04-09 11:40:13.880 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPbinary_5Fsensorsonoff_5Fnspanel_5Fswitch_5F1#sensor', because channel type 'mqtt:ESPbinary_5Fsensorsonoff_5Fnspanel_5Fswitch_5F1_sensor' could not be found.
2023-04-09 11:40:13.881 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPswitchsonoff_5Fnspanel_5F_2D_5Frelay_5F2#switch', because channel type 'mqtt:ESPswitchsonoff_5Fnspanel_5F_2D_5Frelay_5F2_switch' could not be found.
2023-04-09 11:40:13.882 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPswitchbuzzer#switch', because channel type 'mqtt:ESPswitchbuzzer_switch' could not be found.
2023-04-09 11:40:13.884 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPsensorwerkstatt_5Fco#sensor', because channel type 'mqtt:ESPsensorwerkstatt_5Fco_sensor' could not be found.
2023-04-09 11:40:13.885 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'c049effa6c24_2Dversion#sensor', because channel type 'mqtt:c049effa6c24_2Dversion_sensor' could not be found.
2023-04-09 11:40:13.886 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPsensorntc_5Fresistance#sensor', because channel type 'mqtt:ESPsensorntc_5Fresistance_sensor' could not be found.
2023-04-09 11:40:13.888 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'c049effa6c24_2Dwifiinfo_2Dssid#sensor', because channel type 'mqtt:c049effa6c24_2Dwifiinfo_2Dssid_sensor' could not be found.
2023-04-09 11:40:13.889 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPswitchsonoff_5Fnspanel_5F_2D_5Fdisplay#switch', because channel type 'mqtt:ESPswitchsonoff_5Fnspanel_5F_2D_5Fdisplay_switch' could not be found.
2023-04-09 11:40:13.890 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channel 'ESPsensorsonoff_5Fnspanel_5F_2D_5Fntc_5Ftemperature#sensor', because channel type 'mqtt:ESPsensorsonoff_5Fnspanel_5F_2D_5Fntc_5Ftemperature_sensor' could not be found.
2023-04-09 11:40:13.891 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'ESPsensorntc_5Ftemperature' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:ESPsensorntc_5Ftemperature' could not be found.
2023-04-09 11:40:13.891 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'ESPsensorsonoff_5Fnspanel_5F_2D_5Fntc_5Fresistance' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:ESPsensorsonoff_5Fnspanel_5F_2D_5Fntc_5Fresistance' could not be found.
2023-04-09 11:40:13.892 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'ESPswitchsonoff_5Fnspanel_5F_2D_5Fbuzzer' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:ESPswitchsonoff_5Fnspanel_5F_2D_5Fbuzzer' could not be found.
2023-04-09 11:40:13.893 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'c049effa6c24_2Dwifisignal' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:c049effa6c24_2Dwifisignal' could not be found.
2023-04-09 11:40:13.893 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'ESPbinary_5Fsensorlueftung_5Fkeller_5Fswitch_5F1' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:ESPbinary_5Fsensorlueftung_5Fkeller_5Fswitch_5F1' could not be found.
2023-04-09 11:40:13.894 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'ESPswitchstufe_5F1' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:ESPswitchstufe_5F1' could not be found.
2023-04-09 11:40:13.895 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'ESPbinary_5Fsensorlueftung_5Fkeller_5Fswitch_5F2' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:ESPbinary_5Fsensorlueftung_5Fkeller_5Fswitch_5F2' could not be found.
2023-04-09 11:40:13.895 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'ESPswitchstufe_5F2' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:ESPswitchstufe_5F2' could not be found.
2023-04-09 11:40:13.896 [WARN ] [re.thing.internal.ThingFactoryHelper] - Could not create channels for channel group 'ESPsensorwerkstatt_5Fco2' for thing type 'mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24', because channel group type 'mqtt:ESPsensorwerkstatt_5Fco2' could not be found.
2023-04-09 11:40:13.897 [ERROR] [ore.internal.discovery.InboxResource] - Thing mqtt:homeassistant_c049effa6c24:ce6fa68254:c049effa6c24 unable to be approved: UID segment 'ESPsensorco#ESPsensorco#sensor' contains invalid characters. The last segment of the channel UID must match the pattern '[\w-]*|[\w-]*#[\w-]*'.
Somehow openHAB or mosquitto keep track of previous used sensors for this device which don’t exist anymore…
Some early bindings in 2.x line attempted to use channel UID instead of channel type to determine what kind of channel it is. I’ve made this mistake while implementing first version of bacnet v2 binding, could it be that mqtt binding is same? AFAIR it was introduced in OH 2.4-2.5 which didn’t have some of restrictions in place?