Both "for" and "with" can be used in this context, but they have slightly different meanings.
If you say "He is well-suited for this task," it means that he is suitable or well-matched for the task. It emphasizes that he has the skills, abilities, and qualities required for the task.
If you say "He is well-suited with this task," it means that he has a good working relationship or partnership with the task. It emphasizes that he can work well with the task and that the task is a good fit for him.
Therefore, both prepositions are correct, but they convey slightly different meanings. It's possible that the book you are using is emphasizing the collaborative aspect of the task, which is why it suggests "with" instead of "for."