In order to quickly fix this error just install or re-install globally agentkeepalive :
npm install -g agentkeepalive --save
Then update npm :
npm install -g npm@7.20.3
UPDATE :
Since June 23 2021, the bug seems to be fixed in v7.17.0 (GitHub issue)
You can first upgrade to v7.17.0:
npm install -g npm@7.17.0
Then upgrade to the last version of npm :
npm install -g npm@7.21.0
or
npm install -g npm@latest