Unable to run Openscap scans and generate compliance reports on Foreman

Unable to create ARF reports
Unable to create directory on remote system /var/tmp/foreman-ssh-cmd-5034e1a0-d46c-4af0-83ad-2a4f1d84c695: exit code: 255 permission denied (publickey,gssapi-keyex,gssapi-with-mic,password).*

Expected outcome:
to execute the Run Openscap scans job successfully and create reports on Foreman Reports tab

Foreman and Proxy versions:
Foreman version: 3.20
Foreman Proxy version: 3.2.0

Foreman and Proxy plugin versions:
Foreman-tasks: 6.0.1
Foreman_ansible: 7.1.0
Foreman_openscap: 5.2.1
Foreman_puppet: 3.0.5
Foreman_remote_execution: 6.0.0

Distribution and version:
CentOS Linux release 7.9.2009 (Core)

Other relevant data:
/var/log/foreman-proxy/proxy.log file attached
proxy.log (248.5 KB)