The error message "mount.nfs4: access denied by server while mounting " leads to this debug page: https://docs.aws.amazon.com/efs/latest/ug/troubleshooting-efs-mounting.html. While the advice given is technically correct (it IS a permissions issue), it does not go very far pointing to the fix.
There are two layers to the issue:
Here is what a proper /etc/fstab entry looks like for encryption in transit: fs-0123456789abcdef0:/ /mnt/fs-1 efs tls,_netdev 0 0