I just got the same error on MacOS using both Unity 2019.4.18.f1/2019.2.21.f1 and after a lot of messing around I think I might have figured some of it out.
At times ( don't know why ) Unity ( or something else ) starts resetting the JAVA_HOME environment variable to string empty when you start Unity. So even if you set JAVA_HOME via console or .bashrc/.zshrc depending on MacOS version it still doesn't work.
Some posts mentioned adding "/" to the end of the external tools SDK path. I think that just forces Unity to set the path again which makes it work for a while. But for me the the error just came back the second day.
I permanently fixed it adding an editor script to the Editor folder that changes the JAVA_HOME environment variable every time Unity starts/loads.
Here's the method for MacOS, just paste it in a C# script in the editor folder.
[InitializeOnLoadMethod]
static voi