After troubleshooting, the cause of this is he is missing this line in the web.config <system.webServer><modules>
section. Once added, the view appears without the error.
<modules>
<add name="CMSApplicationModule" preCondition="managedHandler" type="CMS.Base.ApplicationModule, CMS.Base"/>
</modules>
Additional note:
The above line should be added automatically when installing the Kentico.AspNet.Mvc NuGet package. But in the client's case, he had a web.master.config which overwrites the regular web.config during build each time. Since this line was only added to the web.config, and was never copied to his master.config, it got removed without him noticing it.