As pointed out by claudio, like most of the RFC 3779 stuff,
X509_V_ERR_UNNESTED_RESOURCE is missing from our documentation.
Here's a stab at summarizing what this error means.

Index: man/X509_STORE_CTX_get_error.3
===================================================================
RCS file: /cvs/src/lib/libcrypto/man/X509_STORE_CTX_get_error.3,v
retrieving revision 1.20
diff -u -p -r1.20 X509_STORE_CTX_get_error.3
--- man/X509_STORE_CTX_get_error.3      17 Nov 2021 16:08:32 -0000      1.20
+++ man/X509_STORE_CTX_get_error.3      22 Jan 2022 10:11:11 -0000
@@ -509,6 +509,13 @@ A name constraint violation occurred in 
  No name constraints minimum and maximum not supported
 A certificate name constraints extension included a minimum or maximum
 field: this is not supported.
+.It Dv X509_V_ERR_UNNESTED_RESOURCE : \
+ RFC 3779 resource not subset of parent's resources
+When walking up a certificate chain, all resources specified in
+RFC 3779 extensions must be contained in the resources delegated in
+the issuer's RFC 3779 extensions.
+The error indicates that this is not the case or that the leaf tries
+to inherit resources that the trust anchor itself inherits.
 .It Dv X509_V_ERR_UNSUPPORTED_CONSTRAINT_TYPE : \
  No unsupported name constraint type
 An unsupported name constraint type was encountered.

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