I've recently tried DoH feature and this error message appears from time to time depending on load.
If you enable logs for dns you can see something like that:
612 Mar/11/2021 18:18:42 memory dns, error DoH server connection error: Idle timeout - connecting
613 Mar/11/2021 18:18:
42 memory dns done query: #16331 dns server failure
...
520 Mar/11/2021 18:18:
37 memory dns query from 10.10.100.32: #16331
www.google.com. A
Just part of the queries fails. It stay so in any configuration: with google or cloudflare, with or w/o "Verify DoH Certificate", w/ and w/o static records for DoH servers etc.
After removing DoH server error logs disappear.
my fw is 6.48.1