The main issue (causing the exception) is the missing quotes around the view ids of the moveto attributes. It should be:
data-dojo-props="moveTo:'view0',
Once fixed, your sample will work.
But there are another issue, this time a design one: the TabBar fixed
property is only meaningful when used with a ScrollableView (this property ensures the tabbar is not scrolled and keeps its bottom position). So your outer view should be a ScrollableView instead.
Also, note that nesting views come with some limitations. In particular, using the 'moveto' attribute you cannot transition from a view to another view if the latter is contained in another parent.
Do not hesitate to look at the various tests in dojox/mobile/tests and to the documentation