My response above may seem unrelated, as I don’t use the “Heroic Table of Contents” plugin —?however: the issues appear to be related. In my case, the issues is not with the Yoast SEO plug (i.e., their TOC block), but with WP, or rather with a recent change to the Gutenberg plugin, which automatically adds anchors to all header blocks. In your case, you may have inherited this through a Gutenberg plugin update, while in my case I ran into this through the WP 5.9 update which again has incorporated recent changes to Gutenberg.
Automatic addition of HTML anchors to header blocks may be a good idea —?but it definitely needs an option to opt out for individual blocks. My workaround is to switch from header block to a plain paragraph, and to style that like a header. That’s not a universal solution, of course: for one, it’s clumsy, and then, converting headers to paragraphs may destroy your readability score (e.g., with Yoast SEO).
And a personal advice: don’t “abuse” header blocks for bold text / highlighting —?rather style a plain paragraph to make it look the way you want. In WP 5.8.3, you could probably deactivate the Gutenberg plugin to avoid the issue, but in WP 5.9, this would not help.