My Solution
I had the exact same error message when trying to deregister my new (gifted) Kindle, namely: "There was an error while registering your device. Please try again later."
I called Amazon customer service as suggested. The link is available through the "Contact Us" button on Amazon.com's Kindle web page. I entered my phone number, clicked a button, and received a call instantly with a recorded message indicating the estimated wait time to speak with a representative.
In short, performing a soft reset (holding the power switch to the right for 15 seconds) caused it to reboot with no registered user.
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