Here is one solution, though probably not the best one, but my focus was not this, just to pass through the error, I was enabling AJP on Spring Boot 2.2.5.RELEASE version.
Add this:
((AbstractAjpProtocol) ajpConnector.getProtocolHandler()).setSecretRequired(false);
My full class for AJP configuration:
package com.ssldemo.config;
import org.apache.catalina.connector.Connector;
import org.apache.coyote.ajp.AbstractAjpProtocol;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.boot.web.embedded.tomcat.TomcatServletWebServerFactory;
import org.springframework.context.annotation.Bean;
import org.springframework.context.annotation.Configuration;
@Configuration
public class TomcatConfiguration {
    @Value("${tomcat.ajp.port}")
    int ajpPort;
    @Value("${tomcat.ajp.remoteauthentication}")
    String remoteAuthentication;
    @Value("${tomcat.ajp.enabled}")
    boolean tomcatAjpEnabled;
    @Bean
    public TomcatServletWebServerFactory servletContainer() {
        TomcatServletWebServerFactory tomcat = new TomcatServletWebServerFactory();
        if (tomcatAjpEnabled) {
            Connector ajpConnector = new Connector("AJP/1.3");
            ajpConnector.setPort(ajpPort);
            ajpConnector.setSecure(false);
            ajpConnector.setAllowTrace(false);
            ajpConnector.setScheme("http");
            ((AbstractAjpProtocol) ajpConnector.getProtocolHandler()).setSecretRequired(false);
            tomcat.addAdditionalTomcatConnectors(ajpConnector);
        }
        return tomcat;
    }
}
application.properties
server.port=8082
tomcat.ajp.port=9090
tomcat.ajp.remoteauthentication=false
tomcat.ajp.enabled=true