There might be two problems with
API resource location {0} is not registered on {1}
1. With URL
I think it should be without default collection, so in your example
http://khanamar3:8080/tfs/
2. With TFS/API version (I had this problem myself)
2.1
First check the version of your TFS server in TFS Management
for example
C:\Program Files\Microsoft Team Foundation Server 2018\Tools\TfsMgmt.exe
Once you know your TFS Server version you can see which API Version it supports
https://learn.microsoft.com/en-us/rest/api/azure/devops/?view=vsts-rest-tfs-4.1
For example TFS 2018 UPDATE 1 supports API version 4.0

2.2
Then check what API version is called by DLLs you use. I coudn't find this information on nuget site
https://www.nuget.org/packages/Microsoft.TeamFoundationServer.Client/
UPDATE: You can check which dll version supports which TFS version here:
https://learn.microsoft.com/en-us/azure/devops/integrate/concepts/dotnet-client-libraries?view=azure-devops
but as described here
How to specify the API version?
you can check what API version is passed by the method using ILSpy
Method in your case would be:
GetGroupsAsync
And you can check this using https://marketplace.visualstudio.com/items?itemName=SharpDevelopTeam.ILSpy

In my case it looked like this

So API from nuget Versioned 16.153.0 uses calls with 5.1.1
So in my case TFS 2018 UPDATE 1 did not supported API version 5.1.1, so I will need to downgrade nuget or upgrade TFS Server Version (or both)