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Had a similar issue when registering ePO 4.6.9 server in a ePO 5.3.2 environment; spoke to Support - they recommended to use 5.3 in the drop down menu when registering ePO 4.6.9 (it may just be a name place holder and nothing more). Was able to register 4.6.9 with no issues.
I read somewhere that you can register 5.1 with a 4.6 but you have to select 4.6 for the new 5.1 ePO server.
With this logic I did the same. It registered and I am able to transfer systems.