I was able to fix this by starting the mission and then driving to the Hellmouth (wait for the game to tell you you are there) and then driving back to the door where you start the mission, which started Eris's dialogue and gave me a waypoint and I was able to finish the mission without any issues from there.
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Unfortunately, didn't work for me as well.
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I tried this, but unfortunately it didn’t change anything. When I re-enter Sorrow’s Harbor from Hellmouth, Eris’s dialogue doesn’t start, and the waypoint disappears.