Failed to pre-process ph2 packet

Hi,
I have one main Mikrotik CCR1009-7G-1C-1S+ connected site-to-site with 5 others Mikrotik units RB760iGS. I use IPSec connectivity.
This worked perfectly now for few years.
Last weeks I notice my log flooded with Failed to pre-process ph2 packet errors.

I suspect something is wrong on main unit because I get error message on all sub units at one time.
How can I troubleshoot/diagnose this error? Any suggestions?