Error creating ElasticSearch domain: ValidationException: Authentication error
It sometimes occurs that when it creates an ES-domain before enabling a service-linked role, even though using depends_on.
maybe you can try using local-exec provisioner to wait.
resource "aws_iam_service_linked_role" "es" { aws_service_name = "es.amazonaws.com" provisioner "local-exec" { command = "sleep 10" }}