I had the same issue, called TAC, fixed loading WCM certificate on the router. I share the procedure here in case anyone else has the same issue.
On WCM
show crypto certificate-detail admin
Copy output (lines between BEGIN CERTIFICATE and END CERTIFICATE
On Router ASA1001-X
Config
crypto pki trustpoint wcm
enrollment terminal pem
exit
crypto pki authenticate wcm
Paste the output
crypto key generate rsa modulus 4096 label KEY
crypto pki trustpoint SSL
enrollment selfsigned
ip-address <router ip>
revocation-check none
rsakeypair KEY
crypto pki enroll SSL
ip http configuration
ip http secure-server
ip http authentication local (or AAA)
ip http secure-trustpoint SSL
ip http client secure-trustpoint SSL
After that run the registration command from the router:
appnav cm-register https://CM_IP_Address:8443/wcm/register
Running the AppNav cluster wizard again should show the interfaces now.