Using Automapper without mapping error `Missing type map configuration or unsupported mapping`

I'm using AutoMapper.Extensions.Microsoft.DependencyInjection Nuget package in my .net core 3.1 project. My console app code is below (can be run by copy paste and install AutoMapper.Extensions.Microsoft.DependencyInjection package for reproduce error).

I'm not writing any mapping. I'm using Automapper only for clone object like below code. When I use 6.1.0 package everything working perfectly. But when I upgrade 6.1.1 or 7.0.0 it gave me error

Missing type map configuration or unsupported mapping. Mapping types: Foo -> FooDto AutomapperProject.Foo -> AutomapperProject.FooDto.

What can be the reason of this?

using AutoMapper;

namespace AutomapperProject
{
    internal class Program
    {
        private static void Main(string[] args)
        {
            var foo = new Foo { Id = 1, Name = "Foo" };
            var dto = MapperHelper.MapFrom<FooDto>(foo);
        }
    }

    public static class AutomapperExtensions
    {
        private static void IgnoreUnmappedProperties(TypeMap map, IMappingExpression expr)
        {
            foreach (string propName in map.GetUnmappedPropertyNames())
            {
                var srcPropInfo = map.SourceType.GetProperty(propName);

                if (srcPropInfo != null)
                    expr.ForSourceMember(propName, opt => opt.DoNotValidate());

                var destPropInfo = map.DestinationType.GetProperty(propName);

                if (destPropInfo != null)
                    expr.ForMember(propName, opt => opt.Ignore());
            }
        }

        public static void IgnoreUnmapped(this IProfileExpression profile)
        {
            profile.ForAllMaps(IgnoreUnmappedProperties);
        }
    }

    public static class MapperHelper
    {
      private static IMapper Mapper()
      {
        var mapperConfig = new MapperConfiguration(configuration=>{configuration.IgnoreUnmapped();});    
        return mapperConfig.CreateMapper();
      }

      public static T MapFrom<T>(object entity)
      {
          return Mapper().Map<T>(entity);
      }
    }

    public class Foo
    {
        public int Id { get; set; }
        public string Name { get; set; }
    }

    public class FooDto
    {
        public int Id { get; set; }
        public string Name { get; set; }
        public string Unmapped { get; set; }
    }
}