The gcloud auth configure-docker us-central1-docker.pkg.dev
command recomended the official docs did not work with the docker cred-helper.
Instead I went with the docker login method
gcloud auth print-access-token | sudo docker login -u oauth2accesstoken --password-stdin https://us-central1-docker.pkg.dev
Note: add Sudo before your docker commands if you have not set users properly
Hope this helps