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I was able to reproduce by following the tutorial (https://github.com/Autoware-AI/autoware.ai/wiki/Source-Build).
I don't know why exactly, but it seems that the last version of setuptools that is compatible with Python 3.5 (which is what we have on Ubuntu 16.04) is 51.3.3. However, by default with the pip3 install -U setuptools command (from the tutorial), we get version 57.0.0. The solution should therefore be to uninstall it and install 51.3.3:
pip3 uninstall setuptools && pip3 install setuptools==51.3.3
See this GitHub issue: https://github.com/pypa/setuptools/issues/2541#issuecomment-763275516. This fixes the SyntaxError with colcon build for me, but I haven't done any other validation.
Here are all the commands I ran, including the solution at the end: https://gist.github.com/christophebedard/349bff22f18285c6ebd9ecb1a2e79590
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