Here's the official Apple API reference documentation for LSOpenURLsWithRole()
Unfortunately, MacOS reference documenation is terrible and it doesn't say what erorr "-610" is.
Rather, like most thing with Apple, you can try to reverse-engineer it by grepping through C header files
user@host ~ % cd /Library/Developer/CommandLineTools/SDKs
user@host SDKs %
user@host SDKs % grep -ir '\-610' *
...
noUserInteractionAllowed = -610 /* no user interaction allowed */
...
user@host SDKs %
So in this case it appears that -610 translates to noUserInteractionAllowed. And a quick google leads back to the official Apple reference documentation, which is completely useless:
In my case, I found that the issue was that I wasn't logged-into the GUI.
My machine is headless, and I was only logged-in to the CLI via SSH. As soon as I logged-into the GUI and re-ran the command, the error went away.