I recommend you take advantage of symmetry to cut your model size in half. Put a vertical plane through the axis of the center roller and cut all the geometry in half and delete or suppress half the bodies.
Apply a symmetry boundary condition on every cut face, which is a Displacement of X=0. This immediately makes the problem more likely to solve because you have controlled 3 out of 6 Degrees of Freedom of the pipe. The cut face can't leave that plane.
You could also repeat that with a vertical plane along the axis of the pipe. Cut everything left in half again and delete another half so you have a quarter model. This now removes more DOF from the pipe and the only freedom left on the vertical line of nodes at the intersection of the two planes is vertical. Note that you have to apply Z = 0 to all the newly cut faces.
When you mesh the pipe, you need at least 8 linear elements through the thickness. You have one.
You want to set the rollers to Rigid so you don't fill them with elements, you just mesh the surfaces that make contact.
Whenever you do Frictional Contact, you must insert a Contact Tool and make sure all the contacts are closed. In the example below, this will fail to solve.
The corrective action is to change the Interface Treatment to Adjust to Touch.
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