I sent/dispensed an XCP asset to a Taproot Address (an address that starts with "bc1p")

At the moment Freewallet does not support Taproot Addresses and neither does the Counterparty Protocol, though it does look like Taproot addresses may be supported in the near future with this protocol proposal and the recent Counterparty Whitepaper written by Adam Krellenstein (Counterparty's current Github Maintainer).

In the event you find yourself in a situation that you sent an XCP asset to a Taproot address your only option is to wait for the Counterparty Protocol to upgrade and then to wait for Freewallet (or another Counterparty wallet) to support this protocol change in a future release.