This confusing grammar appeared with Datagrip 2021.3.3 and Redshift driver version 184.108.40.206 [stable]
IAM permissions are set up correctly. Older versions of Datagrip using driver 1.2.16 work fine. Username/password with the same host and port work fine. Only this "AWS Profile" (renamed from "IAM Auth" ?) fails with the odd grammar.
11:09 AM  The required connection property does not found ClusterID
11:09 AM my-redshift.abc123.us-east-2.redshift.amazonaws.com
 The required connection property does not found ClusterID.
My setup looks like this: (hostname edited). It also uses an SSH Tunnel to get into the VPC where the cluster is, again working fine with older version and working fine with username/password to the same cluster.
The error message does not change if I use invalid values for the user and IAM profile.