Exception:

INSUFFICIENT_ACCESS_OR_READONLY. Looks like you don't have access to QUERY_RECORDS

Similar exception might occur for the other Salesforce Agentforce standard actions too.

Resolution:

Multiple Standard Agent Actions are not supported/available in the Salesforce Agentforce Service Agent.

Help Article:

https://help.salesforce.com/s/articleView?id=003817220&type=1