Seems I have the same issue. Using Acy Enterprise version. Can't upgrade from 5.10.19 (currently latest version), using Joomla 3.9.24 (also latest version), working on Windows 10 (with all the updates and patches). Joomla database is fixed.
The result: Error: Error installing component, Warning. Unknown column 'parent_id' in 'where clause'
P.S. Still not sure what the benefit of an upgrade could be (except from being compatible with Joomla 4 and getting new developments, as I understand that Acy 5 will not be developed further).