Searching for alternative solution for Contact Picker for taskser
I found a solution by using Automate.
Automate  is like Tasker but it also has  Contact Picker.

I can start automate flow from Tasker, then the flow can pick a contact and copy the contact number to clipboard. Then Tasker can take the number from the clipboard and do whatever I want.

Hard, but it is working!!!

On the way, I found that Automate is much better than Tasker (Automate can run Tasker's tasks and plugins either)