Replication failure with UPDATE when replica server has a PK and source not

Replication crashes with the following error when executing an UPDATE statement in the source(where the table does not have a PK) and the replica has a PK.

Last_SQL_Errno: 1032
 Last_SQL_Error: Could not execute Update_rows event on table percona.test_table; Can't find record in 'test_table', Error_code: 1032; Can't find record in 'test_table', Error_code: 1032; handler error HA_ERR_KEY_NOT_FOUND; the event's master log mysql-bin.000003, end_log_pos 29043405

The same does not occur with INSERT statements.

The binlog_format is set to ROW and using the FULL image.

Test case:
1-) create table in the source

CREATE TABLE `test_table` (
`id` int(10) NOT NULL DEFAULT '0',
`field1` varchar(100),
KEY `idx` (`id`,`field1`)
) ENGINE=InnoDB DEFAULT CHARSET=utf8 COLLATE=utf8_unicode_ci;

2-) Insert some rows, check the source and replica

insert into test_table values (1,'11/19'),(1,'11/19'),(1,'11/2019') on duplicate key update field1=values(field1), id=values(id);

master [localhost:48008] {msandbox} (percona) > select * from test_table;
-----------+

-----------+

-----------+
3 rows in set (0.00 sec)

slave1 [localhost:48009] {msandbox} (percona) > select * from test_table;
-----------+

-----------+

-----------+
3 rows in set (0.00 sec)

3-) Add a PK on the replica

slave1 [localhost:48009] {msandbox} (percona)> ALTER TABLE `test_table` ADD COLUMN `id_pk` BIGINT AUTO_INCREMENT NOT NULL PRIMARY KEY ;

4-) Insert more rows, check both servers:

insert into test_table values (1,'11/19'),(1,'11/19'),(1,'11/2019') on duplicate key update field1=values(field1), id=values(id);

master [localhost:48008] {msandbox} (percona) > select * from test_table;
-----------+

-----------+

-----------+
6 rows in set (0.00 sec)

slave1 [localhost:48009] {msandbox} (percona) > select * from test_table;
----------------

----------------

----------------
6 rows in set (0.01 sec)

5-) Run update on the source server

master [localhost:48008] {msandbox} (percona) > update test_table set id=1,field1='11/2019';
Query OK, 4 rows affected (0.01 sec)
Rows matched: 6 Changed: 4 Warnings: 0

6-) Check replication and its broken

Last_SQL_Errno: 1032
Last_SQL_Error: Could not execute Update_rows event on table percona.test_table; Can't find record in 'test_table', Error_code: 1032; Can't find record in 'test_table', Error_code: 1032; handler error HA_ERR_KEY_NOT_FOUND; the event's master log mysql-bin.000003, end_log_pos 29043405