IOT rule fails with "KafkaAction failed to send a message to the specified bootstrap servers. Expiring N record(s) for {Kafka-topic}-2:4600 ms has passed since batch creation"

I'm using an IoT rule to publish IoT data with Managed Service Kafka (MSK). However, I frequently encounter the following error, causing messages to be missing. It generally works well, but what could be the reasons for occasional issues like this? Also, I would like to know how to resolve it.

{
    "timestamp": "2023-12-04 11:32:17.213",
    "logLevel": "ERROR",
    "traceId": "b54f9de6-c0b5-7233-8925-49e80e7d099f",
    "accountId": "1234",
    "status": "Failure",
    "eventType": "RuleExecution",
    "clientId": "1234",
    "topicName": "$aws/rules/iot_to_kafka/test3/location",
    "ruleName": "iot_to_kafka",
    "ruleAction": "KafkaAction",
    "resources": {
        "Topic": "appmeter.iot.gps",
        "BootstrapServers": "b-1.abc.abc.c2.kafka.ap-northeast-2.amazonaws.com:9096,b-2.abc.abc.c2.kafka.ap-northeast-2.amazonaws.com:9096,b-3.abc.abc.c2.kafka.ap-northeast-2.amazonaws.com:9096"
    },
    "principalId": "1234",
    "details": "KafkaAction failed to send a message to the specified bootstrap servers. Expiring 6 record(s) for test.iot.gps-2:4600 ms has passed since batch creation"
}