ORA-39002, ORA-39168 on IMPDP, Object path GRANT was not found
This happened because you specified EXCLUDE=GRANT on export as well.

This is expected behavior - according to Oracle.

The workaround is to not specify the same EXCLUDE in expdp and impdp.

See the below (with support access):

DataPump Import (IMPDP) Fails With ORA-39168 (Doc ID 430702.1)

I have just tested this on version 18c and 19c as well, in those newer versions it worked fine without any error.