It never did. FIML is ML estimation, which assumes multivariate normality. Perhaps the error message is the result of a new check for this inconsistency between the estimator and handling of missing data.
In the past, lavaan has had an experimental (i.e., not supported) feature for MLE of categorical data, which appears to have been turned off for now. So the only estimator available for categorical data is (robust) DWLS.
Terrence D. Jorgensen
Postdoctoral Researcher, Methods and Statistics
Research Institute for Child Development and Education, the University of Amsterdam