I am afraid your panel is not balanced. The regression output states that you have between 1 and 3 observations per company - on average about 2. With a maximum of 3 observations per group it is not possible to calculate the AR(2) test statistic. You need a minimum of 4 time periods.
Note that the xtset command might tell you that your panel is "strongly balanced". However, this only means that you have for each company and year a respective row in your data set. It does not check whether there are any missing values. Those missing values in some of your variables turn the estimation sample unbalanced.
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