In your case you just need to escape \$VERSION to avoid the GString to be
interpolated.
sh "find packages -name internal-* -type d -exec bash -c 'for arg; do
export VERSION=\$(grep \${arg##*/} nexus-cicd-versions.txt | cut -d:
-f2);sed -i \'s/#VERSION#/\${VERSION}/g\' \$arg/0/package.json; done' _ {}
+"
But again, GString might be a bit tricky when escaping in the sh step
within the jenkins pipeline
Cheers
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