In my case, I had to remove the following from the .csproj file:
<Import Project="$(SolutionDir)\.nuget\NuGet.targets" Condition="Exists('$(SolutionDir)\.nuget\NuGet.targets')" />
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
<PropertyGroup>
<ErrorText>This project references NuGet package(s) that are missing on this computer. Enable NuGet Package Restore to download them. For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText>
</PropertyGroup>
<Error Condition="!Exists('$(SolutionDir)\.nuget\NuGet.targets')" Text="$([System.String]::Format('$(ErrorText)', '$(SolutionDir)\.nuget\NuGet.targets'))" />
</Target>
In fact, in this snippet you can see where the error message is coming from.
I was converting from MSBuild-Integrated Package Restore to Automatic Package Restore (https://learn.microsoft.com/en-us/nuget/consume-packages/package-restore#migrate-to-automatic-package-restore)