Run a wsusutil reset on your WSUS server
https://www.ajtek.ca/wsus/what-does-a-wsusutil-reset-do-and-when-should-i-run-a-wsusutil-reset/
If it's a corrupt file, that will fix it. Once the reset is finished (wait 24h as there's no progress bar), see if the computers are now able to receive the updates.
You may also want to check to see if the detectoids issue plagues your WSUS server. If you had a licence to WAM, it would alert you if you had the test detectoids Microsoft issued a notice about.
https://www.ajtek.ca/blog/microsofts-wsus-service-degradation-how-wam-responded-in-record-time/
I recommend a Delivery Optimization Download Mode of LAN which numerically is 1.
If the WSUS Server itself is having trouble downloading the updates, you may need to force BITS foreground priority mode.
https://www.ajtek.ca/wsus/wsus-bits-foreground-priority-mode-vs-background-priority-mode/