The form template has been published to the server but it can only be opened in infopath filler


I am using SharePoint 2016 on Windows Server 2016 (with GUI). Created a new SharePoint 2010 type workflow and started approval process which automatically created a task form. I then opened that task form in InfoPath 2013 and tried to publish it without making any changes but getting error:

The form template has been published to the server but it can only be opened in infopath filler

I keep seeing that I need to enable Desktop Experience but that is for Windows 2012. I am not sure if I have Desktop Experience on Windows Server 2016 but I am connected via RDP and there is GUI and everything so I guess Desktop Experience is enabled?

How do I fix this issue?