I've been able to trace this failure back to ipa-custodia on ipa01. the 
pki-tomcat/ca/debug log on ipa02 shows:

[17/Sep/2019:18:28:35][KeyRetrieverRunner-b06485e9-c2bb-4ccf-8023-0bf93c32b94b]:
 About to execute command: [/usr/libexec/ipa/ipa-pki-retrieve-key, 
caSigningCert cert-pki-ca b06485e9-c2bb-4ccf-8023-0bf93c32b94b, ipa01.yyy.com]
[17/Sep/2019:18:28:35][KeyRetrieverRunner-b06485e9-c2bb-4ccf-8023-0bf93c32b94b]:
 Failed to retrieve key from any host.
[17/Sep/2019:18:28:35][KeyRetrieverRunner-b06485e9-c2bb-4ccf-8023-0bf93c32b94b]:
 KeyRetriever did not return a result.
[17/Sep/2019:18:28:35][KeyRetrieverRunner-b06485e9-c2bb-4ccf-8023-0bf93c32b94b]:
 Retrying in 168338 seconds

The apache access log on ipa01 shows a 404:
"GET 
/ipa/keys/ca_wrapped/caSigningCert%20cert-pki-ca%20b06485e9-c2bb-4ccf-8023-0bf93c32b?.............
 HTTP/1.1" 404 190

And then I see a denial in /var/log/ipa-custodia.audit.log:
2019-09-17 17:58:54 - SimpleCredsAuth-[auth:simple]    - PASS: '4289' 
authenticated as '48, 48'
2019-09-17 17:58:54 - SimpleHeaderAuth-[auth:header]   - PASS: '4289' 
authenticated as '(null)'
2019-09-17 17:58:54 - IPAKEMKeys-[authz:kemkeys]       - PASS: '4289' 
authorized for '/keys'
2019-09-17 17:58:55 - Secrets-[/keys]                  - DENIED: '(null)' 
requested key 'ca_wrapped/caSigningCert cert-pki-ca 
b06485e9-c2bb-4ccf-8023-0bf93c32b'

The other keys are being allowed by custodia:
2018-01-24 18:18:31 - SimpleCredsAuth-[auth:simple]    - PASS: '15417' 
authenticated as '48, 48'
2018-01-24 18:18:31 - SimpleHeaderAuth-[auth:header]   - PASS: '15417' 
authenticated as '(null)'
2018-01-24 18:18:31 - IPAKEMKeys-[authz:kemkeys]       - PASS: '15417' 
authorized for '/keys'
2018-01-24 18:18:31 - Secrets-[/keys]                  - ALLOWED: '(null)' 
requested key 'ca/caSigningCert cert-pki-ca'

Any thoughts on why the ca_wrapped request for the intermediate cert is being 
denied?
I did restart ipa-custodia on ipa01 without any effect.
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