Hi Ritesh,
Please use the below command set once, if you still face a issue then there may be one more reason, if you have multiple interface ip addresses in the router then also this kind of issue may raise.
Check the ip address of the router in the ACS server.
and then the you have to issue a command like
ip tacacs source interface (mention the interface name)
it has to work.let me know if you have any issue.
username abc password abc12345
tacacs-server host X.X.X.X
tacacs-server key XXXXX
aaa new-model
aaa authentication login default group tacacs+ local
aaa authorization exec default group tacacs+ if-authenticated
aaa authorization commands 1 default group tacacs+ if-authenticated
aaa authorization commands 15 default group tacacs+ if-authenticated
aaa authorization config-commands