Two weeks of insanity and all-day calls to Intuit.  Told to delete and recapture an employee - how do you do that when they have been with company 10 years!  Not to mention payroll is weekly and W2's are due.  Instead I pushed for another option.  We tried out all my recent backups and fortunately found one from prior week that didn't have the issue.  Had to go back to reinstall backup and recapture a weeks worth of data for entire company.  

Then when I tried to upload to the cloud again -same issue.

So - Always be in single user when you do these things and back up frequently.  I switched off Cloud in "Manage Payroll Cloud Services".  I updated payroll "Get Payroll Updates".  Download 'entire payroll update' and ensure PS034 is the result.  Log out and close QB.  Reboot computer.  Try 'Send Payroll Data' again.  I hope it works for you.