CRM Data Stream Fails for Health Cloud Objects (PartyRoleRelation / AccountAccountRelation)

When using Data Cloud with a CRM Connector against a Health Cloud companion org, data streams for Health Cloud-licensed objects may remain in an Active state but all the executions fail.

Errors observed like below :                                                                                                                                    400 Bad Request on GET request for "https://xxxx.sandbox.my.salesforce.com/services/data/v66.0/query": "[{"message":"\nPNM_Termination_Reason__c FROM AccountAccountRelation LIMIT 1\n ^\nERROR at Row:1:Column:340\nsObject type 'AccountAccountRelation' is not supported. If you are attempting to use a custom object, be sure to append the '__c' after the entity name. Please reference your WSDL or the describe call for the appropriate names.","errorCode":"INVALID_TYPE"}]"

400 Bad Request on GET request for "https://xxxx.sandbox.my.salesforce.com/services/data/v66.0/query": "[{"message":"\nPNM_Inverse_Role_Name__c FROM PartyRoleRelation LIMIT 1\n ^\nERROR at Row:1:Column:283\nsObject type 'PartyRoleRelation' is not supported. If you are attempting to use a custom object, be sure to append the '__c' after the entity name. Please reference your WSDL or the describe call for the appropriate names.","errorCode":"INVALID_TYPE"}]"