Our team has now resolved the issue, and the Pardot integration will now work as expected after the following action steps are taken.
1) Reconnect your Pardot account(s) in Zapier: https://zapier.com/help/manage/app-connections/manage-your-app-connections#reconnect-your-app-accounts
2) Turn all Zaps connected to Pardot off and on again.
If you have Zaps that encountered an error during this incident, any associated Zap runs will not be able to be replayed.
If you have data in your Zap Runs that cannot be replayed, and you would like to send that data through your workflow, you can export your Zap runs as a CSV by following these steps:
Then, follow the bulk import steps below to import into Zapier: