I've created an App Registration in Azure and added access to Azure Storage (user_impersonation):

The console app uses these packages:
<PackageReference Include="Azure.Identity" Version="1.2.0-preview.6" />
<PackageReference Include="Azure.Storage.Queues" Version="12.4.0-preview.5" />
And the code looks like:
var tc = new ClientSecretCredential("{tenant-id}", "{client-id}", "{client-secret}");
var client = new QueueClient(new Uri("https://{storage-name}.queue.core.windows.net/example-q"), tc);
// this fails with error
client.SendMessage("msg");
The error message is like:
Unhandled exception. Azure.RequestFailedException: This request is not authorized to perform this operation using this permission.
RequestId:13f45216-9003-0061-49cf-616632000000
Time:2020-07-24T15:32:44.9586872Z
Status: 403 (This request is not authorized to perform this operation using this permission.)
ErrorCode: AuthorizationPermissionMismatch
Headers:
Server: Windows-Azure-Queue/1.0,Microsoft-HTTPAPI/2.0
x-ms-request-id: 13f45216-9003-0061-49cf-616632000000
x-ms-version: 2018-11-09
x-ms-error-code: AuthorizationPermissionMismatch
Date: Fri, 24 Jul 2020 15:32:44 GMT
Content-Length: 279
Content-Type: application/xml
at Azure.Storage.Queues.QueueRestClient.Messages.EnqueueAsync_CreateResponse(ClientDiagnostics clientDiagnostics, Response response)
at Azure.Storage.Queues.QueueRestClient.Messages.EnqueueAsync(ClientDiagnostics clientDiagnostics, HttpPipeline pipeline, Uri resourceUri, QueueSendMessage message, String version, Nullable`1 visibilitytimeout, Nullable`1 messageTimeToLive, Nullable`1 timeout, String requestId, Boolean async, String operationName, CancellationToken cancellationToken)
at Azure.Storage.Queues.QueueClient.SendMessageInternal(String messageText, Nullable`1 visibilityTimeout, Nullable`1 timeToLive, Boolean async, CancellationToken cancellationToken)
at Azure.Core.Pipeline.TaskExtensions.EnsureCompleted[T](Task`1 task)
at Azure.Storage.Queues.QueueClient.SendMessage(String messageText, Nullable`1 visibilityTimeout, Nullable`1 timeToLive, CancellationToken cancellationToken)
at Azure.Storage.Queues.QueueClient.SendMessage(String messageText)
