Multiple dnsmasq warnings: Negative DS reply without NS record

The issue I am facing:
I have started receiving dnsmasq warning messages in Pihole's log, such as:
"Negative DS reply without NS record received for 2.ip6.arpa, assuming non-DNSSEC domain-specific server."
"Negative DS reply without NS record received for f.ip6.arpa, assuming non-DNSSEC domain-specific server."
"Negative DS reply without NS record received for [internal LAN domain], assuming non-DNSSEC domain-specific server."
"Negative DS reply without NS record received for 9.9.in-addr.arpa, assuming non-DNSSEC domain-specific server."
This has been happening sporadically for the last week or so. Browsing appears unaffected. DNSSEC seems to work for sites that use it. The warning points to documentation but this message isn't documented.

Details about my system:
Raspbian Bookworm
Pihole v6, latest
Unbound, latest
Nginx, latest
Dual stack network

Debug log: https://tricorder.pi-hole.net/7h9crpbs/