I have a convoluted workaround involving the List widget... I know the List widget used to autoselect the first record upon opening the app, which was nifty, though it doesn't seem to do that any more / I can't figure out how to do it again.
However, it can still be used in a different way.
1. Create a Section. First 'View' is a List widget, second 'View' is the survey embed. Use the URL parameter for the survey embed, as mentioned in the original post.
2. For the List Widget: In 'Action > Message Action', add a trigger for 'Record Selection Changes'. Select 'Framework'. 'Trigger Data' should be the feature you're selecting in the map, and 'Action Data' should be the feature that is informing the Embed widget. These will probably be the exact same feature (so they will be auto-bound), but if not, they should connect on the 'GlobalID' field.
3. Add a Button to the List Widget to link to your second / Survey123 view. Style the rest of the List Widget as you like - I used this as a way for users to check the data of the point they selected before editing, and labeled the Button as "Edit Information". (I no longer have access to the app I built for this post, but this is the idea:)
4. When the user clicks the button, it should take them to a loaded Survey123 view, since clicking the item on the List selects the associated record across the framework.
5. Make sure you have a button on the second View to get back to the list!
The only downside is that if the user clicks the map while in the Survey123 view, it will unselect the feature and throw the error again... usually I put text like 'Select Point on Map to Edit' above the Survey123 widget, just in case.
Hopefully that helps... it's the best I've come up with, though hopefully ESRI is working on a way to auto-select the first record or something because so many of their widgets have this issue with looking funky before things are selected! If you find a better solution, too, please let me know!