In my case I was getting this error when attempting to update the authentication settings in IIS also in addition to browsing. I was able to remove this error by removing the authentication setting from the web.config itself. Removing a problematic configuration section may be less invasive and preferable in some cases than changing the server roles and features too much:
Section Removed:
<security>
<authentication>
<windowsAuthentication enabled="true" />
</authentication>
</security>