The error code means you are tring to delete a row from a parent table that is mapped to one or more rows in one or more child tables. Since your trans type is INSERT, I wonder if you have any triggers on that table. Or do you have any other SQL in the same transaction, such as a TRUNCATE before your INSERT?
The distributed transaction is assigned to the system rollback segment and is trying to get into the prepared state, but the required number of non-PREPARED slots are not available, so the transaction is rolled back. If the transaction aborted at a remote site, only ORA-02091 will be seen. If the transaction aborted at the host site, then both ORA-02091 andORA-02092 will be seen.
Complete the current transaction and then do the operation required.