Reproduction steps:
1. Open the attached project "TextureImportTest.zip"
2. Change the Target Platform to Android
3. Make sure the "Parallel Import" setting is checked (Editor Settings > Parallel Import)
4. Open Assets/Textures folder
5. Right-click on the "Test" folder and click "Reimport"

Expected result: No errors are thrown
Actual result: Errors are thrown:
[Worker71] Invalid texture format (-1) for Texture2D
#0 GetStacktrace(int)
#1 DebugStringToFile(DebugStringToFileData const&)
#2 OnDemandScheduler::OnLogToConsoleEntry(int, LogToConsoleEntryMessage const&)
#3 ImportWorkerManager::OnMessageReceived(int, WorkerState, core::array_ref<unsigned char>)
#4 WorkerManagerASIO::OnMessageReceived(long, ConstByteBufferSpan const&)
#5 MessageReader::ReadMessage(ByteBufferReader&, unsigned long&)
#6 MessageReader::Read(ConstByteBufferSpan const&, unsigned long&)
#7 TcpMessagingSession::OnReceiveCompleted(ConstByteBufferSpan const&, void*, IOError const&)
#8 asio::detail::reactive_socket_recv_op<asio::mutable_buffers_1, TcpStream::ReceiveAsync(ByteBufferSpan const&, void*)::$_5>::do_complete(asio::detail::task_io_service*, asio::detail::task_io_service_operation*, std::__1::error_code const&, unsigned long)
#9 asio::detail::task_io_service::do_run_one(asio::detail::scoped_lock<asio::detail::posix_mutex>&, asio::detail::task_io_service_thread_info&, std::__1::error_code const&)
#10 asio::detail::task_io_service::run(std::__1::error_code&)
#11 IOService::Run(bool)
#12 IOService::Impl::ThreadFunction(void*)
#13 Thread::RunThreadWrapper(void*)
#14 _pthread_start
#15 thread_start

Reproducible with: 2021.2.0a18, 2021.2.7f1, 2022.1.0b2
Not reproducible with: 2020.3.25f1, 2021.2.0a17
Could not test with: 2019.4.34f1 (Editor not responsive)

Notes:
-Not reproducible when the "Parallel Import" setting is unchecked
-Not reproducible when EditorUtility.CompressTexture is commented out (Assets/Editor/TextureImport line 64)
-Not reproducible when targeting macOS/Windows Standalone or WebGL
-When targeting IOS, Unity is stuck on Importing
-If there is no "Parallel Import" setting, check that the "Desired worker count" is larger than 1 (Editor Settings > Desired worker count)