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Numpy is a included with ArcGIS Pro Python so no need to install that. As far as the other libraries go - the ArcGIS Pro Python environment is locked and you cannot install any third-party libraries without first cloning the Python environment. Also, see here for clues on the assertion error stackoverflow.com/questions/53600426/….
The issue is, geopandas library is working just fine in jupyter notebook of ArcGIS Pro but no within the ArcGIS Pro python notebook(within the software) .