I had this issue as well and I fixed it in the following way:
This page mentions about an entry which was optional before and became mandatory during the latest update (4.12). It says that the sonar.java.binaries
entry in the Jenkins project settings should be set. When set, even to a faulty folder, it will fix your errors, leaving only a warning and your pipeline will be running again.
The setting should be added to Jenkins -> "your project" -> Configuration -> Build -> Execute SonarQube Scanner -> Analysis Properties. Add this entry and point it to your binaries folder.