As per this documentation,

The cause of this error is the invalid navigation property in the request. When the used single-valued navigation parentcustomerid is not present in the given entity type, you will get this type of error.

Also, check whether the current column parentcustomerid is a single-valued navigation property or a multi table lookup.

To avoid this, as per the same documentation, you need to ensure the navigation property exists in the CSDL $metadata document.

You can go through the similar SO answer by @user17390749.