I was able to solve this issue by changing to DesktopAppPath and giving the path to the executables. I also changed the pinnedList to use desktopAppId which still uses the AMUID. Here is my full working config file:
<?xml version="1.0" encoding="utf-8"?>
<AssignedAccessConfiguration
xmlns="http://schemas.microsoft.com/AssignedAccess/2017/config"
xmlns:rs5="http://schemas.microsoft.com/AssignedAccess/201810/config"
xmlns:win11="http://schemas.microsoft.com/AssignedAccess/2022/config">
<Profiles>
<Profile Id="{a3217095-d9c7-4a51-8a53-70927ea6c514}">
<AllAppsList>
<AllowedApps>
<App DesktopAppPath="C:\Program Files\Zscaler\ZSATray\ZSATray.exe" />
<App DesktopAppPath="C:\Program Files\RFgen51\RFCLT510.exe" rs5:AutoLaunch="true" />
</AllowedApps>
</AllAppsList>
<win11:StartPins>
<![CDATA[{
"pinnedList":[
{"desktopAppId": "Microsoft.AutoGenerated.{F391E5DB-C1EE-FAE0-7D6A-37A5D5DC94FA}"},
{"desktopAppId": "{6D809377-6AF0-444B-8957-A3773F02200E}\\RFgen51\\RFCLT510.exe"}
]}
]]>
</win11:StartPins>
<Taskbar ShowTaskbar="true" />
</Profile>
</Profiles>
<Configs>
<Config>
<AutoLogonAccount rs5:DisplayName="Zebra Kiosk" />
<DefaultProfile Id="{a3217095-d9c7-4a51-8a53-70927ea6c514}" />
</Config>
</Configs>
</AssignedAccessConfiguration>