I solved this by going to ir.rule models, then find all domain_force that contain restrict_user_ids in ir.rule.

Go tou your postgree database, then select your database.

Then run this query:

SELECT * FROM public.ir_rule WHERE domain_force LIKE '%restrict_user_ids%';

If we found it, then delete it:

DELETE FROM public.ir_rule WHERE domain_force LIKE '%restrict_user_ids%';

then upgrade all modules using this command:

./odoo-bin -c debian/odoo.conf -d dbname -u all