I encountered the same error when increasing CONFIG_LWIP_MAX_SOCKETS:
_Static_assert(MAX_FDS >= CONFIG_LWIP_MAX_SOCKETS, "MAX_FDS < CONFIG_LWIP_MAX_SOCKETS");
The issue is that in ESP-IDF (and PlatformIO), MAX_FDS is not defined directly via CONFIG_MAX_FDS, but instead through FD_SETSIZE:
#define ...