UPDATED After follow-up question: solutions do not compile. (see bellow)
Vertical lines can be drawn without conflict with booktabs using the nicematrix package.
The second table has a better alignment of the cells. Uses X columns to adjust their relative widths and centering.
The only package needed to add is nicematrix https://ctan.org/pkg/nicematrix?lang=en

\documentclass{article}
\usepackage{booktabs}
\usepackage{nicematrix} % added <<<<<<<<<<<<<<<<<<<<<<<<<<<<<
\begin{document}
\noindent\begin{NiceTabular}{lp{1.5in}|lp{1.5in}}
\toprule
Parameter & Description & Parameter & Description\
\midrule
$\mu$ & Influx rate of the population & $\epsilon$ & Progression rate from $I_1$ to $I_2$ \
$\beta_1$ & Transmission rate of the fast latent compartment & $p_1$ & Progression rate from $I_2$ to $J$ \
$\beta_2$ & Transmission rate of the symptomatic compartment & $p_2$ & Progression rate from $J$ to $A$ \
$\beta_3$ & Transmission rate of the AIDS compartment & $\xi_1$ & Treatment rate from $J$ to $I_1$ \
$p$ & Fraction of S infected by $I_2$ who enter $I_1$ & $\xi_2$ & Treatment rate from $J$ to $I_2$ \
$q$ & Fraction of S infected by $J$ who enter $I_1$ & $\nu$ & Natural death rate \
$r$ & Fraction of S infected by $A$ who enter $I_1$ & $\alpha$ & Disease related death rate \
\bottomrule
\end{NiceTabular}
\bigskip
\noindent\begin{NiceTabular}[width=\textwidth]{|X[c,m] X[2,l,m] | X[c,m] X[2,l,m] |}[cell-space-limits=3pt]
\toprule
Parameter & Description & Parameter & Description\\
\midrule
$\mu$ & Influx rate of the population & $\epsilon$ & Progression rate from $I_1$ to $I_2$ \\
$\beta_1$ & Transmission rate of the fast latent compartment & $p_1$ & Progression rate from $I_2$ to $J$ \\
$\beta_2$ & Transmission rate of the symptomatic compartment & $p_2$ & Progression rate from $J$ to $A$ \\
$\beta_3$ & Transmission rate of the AIDS compartment & $\xi_1$ & Treatment rate from $J$ to $I_1$ \\
$p$ & Fraction of S infected by $I_2$ who enter $I_1$ & $\xi_2$ & Treatment rate from $J$ to $I_2$ \\
$q$ & Fraction of S infected by $J$ who enter $I_1$ & $\nu$ & Natural death rate \\
$r$ & Fraction of S infected by $A$ who enter $I_1$ & $\alpha$ & Disease related death rate \\
\bottomrule
\end{NiceTabular}
\end{document}
To try the last version of nicematrix without installing it:
- Download
nicematrix.zip from nicematrix.zip
- Extract the directory
nicematrix.
- Open a command windows in that directory and execute
pdflatex nicematrix.ins.
- The file
nicematrix.sty will be generated.
- Copy that file to your working directory and compile your table
UPDATE Check the version of the packages
Try this code to check the version of the packages
The output will produce two very similar tables, the first using tabularray (from Zarko's answer) and the second with nicematrix

\documentclass{article}
\usepackage{geometry}
\usepackage{tabularray}
\UseTblrLibrary{booktabs}
\usepackage{nicematrix}
\begin{document}
\parindent0pt
{\large \textbf{tabularray}}\bigskip
\begin{tblr}{colspec = {@{} Q[c,$] X[l] |
Q[c,$] X[l] @{}},
row{1} = {mode=text},
row{2-Y} = {belowsep+=2pt}
}
\toprule
Parameter & Description & Parameter & Description\\
\midrule
\mu & Influx rate of the popu\-la\-tion
& \epsilon & Progression rate from $I_1$ to $I_2$ \\
\beta_1 & Transmission rate of the fast latent compartment
& p_1 & Progression rate from $I_2$ to $J$ \\
\beta_2 & Transmission rate of the symptomatic compartment
& p_2 & Progression rate from $J$ to $A$ \\
\beta_3 & Transmission rate of the AIDS compartment
& \xi_1 & Treatment rate from $J$ to $I_1$ \\
p & Fraction of S infected by $I_2$ who enter $I_1$
& \xi_2 & Treatment rate from $J$ to $I_2$ \\
q & Fraction of S infected by $J$ who enter $I_1$
& \nu & Natural death rate \\
r & Fraction of S infected by $A$ who enter $I_1$
& \alpha & Disease related death rate \\
\bottomrule
\end{tblr}
\bigskip
{\large \textbf{nicematrix}}\bigskip
\begin{NiceTabular}{cp{2.0in}|cp{2.0in}}[cell-space-limits=4pt]
\toprule
Parameter & Description & Parameter & Description\
\midrule
$\mu$ & Influx rate of the population & $\epsilon$ & Progression rate from $I_1$ to $I_2$ \
$\beta_1$ & Transmission rate of the fast latent compartment & $p_1$ & Progression rate from $I_2$ to $J$ \
$\beta_2$ & Transmission rate of the symptomatic compartment & $p_2$ & Progression rate from $J$ to $A$ \
$\beta_3$ & Transmission rate of the AIDS compartment & $\xi_1$ & Treatment rate from $J$ to $I_1$ \
$p$ & Fraction of S infected by $I_2$ who enter $I_1$ & $\xi_2$ & Treatment rate from $J$ to $I_2$ \
$q$ & Fraction of S infected by $J$ who enter $I_1$ & $\nu$ & Natural death rate \
$r$ & Fraction of S infected by $A$ who enter $I_1$ & $\alpha$ & Disease related death rate \
\bottomrule
\end{NiceTabular}
\end{document
If it fails run the following code
\listfiles % list the files loaded <<<<<<<<<<<<<<
\documentclass{article}
\usepackage{geometry}
\usepackage{tabularray}
\UseTblrLibrary{booktabs}
\usepackage{nicematrix}
\begin{document}
Only to list the files loaded
\end{document}
Important See that before \documentclass{article} there is the command \listfiles
Now look at the end of the .log file.
You should see a list of all files loaded, similar to
*File List*
article.cls 2020/04/10 v1.4m Standard LaTeX document class
size10.clo 2020/04/10 v1.4m Standard LaTeX file (size option)
geometry.sty 2020/01/02 v5.9 Page Geometry
....
epstopdf-base.sty 2020-01-24 v2.11 Base part for package epstopdf
epstopdf-sys.cfg 2021/03/18 v2.0 Configuration of epstopdf for MiKTeX
On my current system it appears
tabularray.sty 2021-12-01 v2021Q Typeset tabulars and arrays with LaTeX3
nicematrix.sty 2021/09/09 v6.2 Enhanced arrays with the help of PGF/TikZ
If in your case the versions installed are previous, I suggest you update them.
I am using the MiKTeX distribution, where this task is done using the MiKTeX Console.
Edit 2


|but it will be broken at the bookatb rules. Read the booktabs manual for the rules on using vertical rules in tables, – David Carlisle Dec 02 '21 at 15:42See the LaTeX manual or LaTeX Companion for explanation. Type H for immediate help.
...
l.3155 \noindent\begin{NiceTabular}` But I already loaded the package
– Math Dec 02 '21 at 16:10See the LaTeX manual or LaTeX Companion for explanation. Type H for immediate help.
...
l.3155 \noindent\begin{NiceTabular} {lp{1.5in}|lp{1.5in}}`
– Math Dec 02 '21 at 16:28nicematrixpackage and see if it is installed. If not, right click on it and install it. https://imgur.com/a/SrSngLS – Imran Dec 02 '21 at 16:28PDFLaTeXto generate a log file. – Imran Dec 02 '21 at 16:48.aux,.textandGZfiles – Math Dec 02 '21 at 16:53