You appear to have not configured the Terraform kubernetes provider with the URL of your Kubernetes API server.
Like it says, you picked a name which isn’t allow for Kubernetes objects. Specifically, you’re not allowed to use underscore characters.
Please read Welcome to the forum - please reformat your message - the forum software is mangling the indentation of your copy/pasted configurations.
Wrapping every Terraform expression in "${ }" ceased to be required from Terraform 0.12 - you should stop using that deprecated syntax.
Whatever name you want to give your service account, of course?