I got an answer from yubikey support.
It seems that my keys have firmware that is to old.
To use residential keys you need to have a YubiKey with credential management, 
this was added in Firmware 5.2.3 

This bug report can be closed.

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https://bugs.launchpad.net/bugs/1950473

Title:
  SSH keygen, Key enrollment failed: requested feature not supported

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