The exact error message is similar to the following:
Failed to remove archived file/directory; out='/bin/rm: cannot remove '/var/lib/zorp/audit/9886186425c239fda19435/02/audit-scb_ssh-1545836262-2.zat': No such file or directory'
This means the audit trail file is already missing from the file system but the cleanup is still looking for it because according to the connection metaDB it should still be present.
The issue is fixed in version 5.11.0 on the Feature branch and 5.0.10 on the LTS branch of the product with the internal issue number PAM-8378
Please upgrade your appliance.
In case you are unable to upgrade the issue can be worked around using the attached script. The goal is to re-create the missing files with 0 size and let the Cleanup policy delete them and update the metaDB properly.
chmod u+x cleanuptouch.py
After it is done the next scheduled Cleanup policy should run properly.