Solution
As the error message suggests, when a task is containing channels from both delta-sigma and non delta-sigma devices, the first channel in the task needs to be from a delta-sigma device.
As shown in
C Series Device Groupings DAQmx help page, 9219 module is not considered a delta-sigma module but a slow-sample device since it has a delta-sigma ADC but with analog pre-filtering components which leads to a different hardware architecture.
If you need to synchronize two cDAQ chassis with 9219 and 9218 modules, you should ensure that the master chassis is the one with 9218 modules (which are actually delta-sigma modules) and that 9218 channels are the first included in the multichassis task.