The instructions say:

cmdline-tools component is missing
Run `path/to/sdkmanager --install "cmdline-tools;latest"

If you do not have command line tools installed, then you don't have the sdkmanager tool available to use; sdkmanager is part of command line tools: https://developer.android.com/tools