I imagine that’s Inkscape 0.92, which runs with python 2.7. It’s likely using a different python on your system, if you’re getting that message.
If you want to run that version of Inkscape, you’ll need to use an older release of the AxiDraw software that supports it. (The current AxiDraw software requires Inkscape 1.0 or newer.) You can find Linux install instructions for 0.92 on an old version of our wiki page:
(Remove the current AxiDraw software first.)
Alternately, hand-modify your Inkscape preferences file to use that version of python 3.7 that you have on your computer: