There seems to be a misconfiguration of autoconfiguration in the class org.springframework.cloud.sleuth.autoconfig.instrument.async.TraceAsyncCustomAutoConfiguration.

@AutoConfigureAfter( name = {"org.springframework.cloud.sleuth.instrument.scheduling.TraceSchedulingAutoConfiguration"}, value = {BraveAutoConfiguration.class} )

I think it has to be org.springframework.cloud.sleuth.autoconfig.instrument.scheduling.TraceSchedulingAutoConfiguration rather than org.springframework.cloud.sleuth.instrument.scheduling.TraceSchedulingAutoConfiguration.