Spring camel kafka - Re-balancing and removing consumer - spring-boot

Question

We have seen it where a consumer is removed from the consumer group, but I cant understand why.
As you can see from the errors below it suggests a timeout on Poll()
The TPS is less than 1, so very low, and each request takes around 200ms to ingest and push to DB.
This happened on 2 occasions in the within days of each other.
Result was that the service no longer read the message from the partition and a restart was required (Not good when you don't have alerting on offset buildup)
Any help/pointers would be greatly appreciated
Spring boot 2.5.13
Camel 3.16.0
2 Java applications (One in each DC)
1 Topic with 2 partitions
ERROR org.apache.camel.processor.errorhandler.DeadLetterChannel - log - Failed delivery for (MessageId: 4AA2CA19996CA12-000000000000424E on ExchangeId: 4AA2CA19996CA12-000000000000424E). On delivery attempt: 0 caught: org.apache.kafka.clients.consumer.CommitFailedException: Commit cannot be completed since the group has already rebalanced and assigned the partitions to another member. This means that the time between subsequent calls to poll() was longer than the configured max.poll.interval.ms, which typically implies that the poll loop is spending too much time message processing. You can address this either by increasing max.poll.interval.ms or by reducing the maximum size of batches returned in poll() with max.poll.records.
WARN org.apache.camel.component.kafka.KafkaFetchRecords - handlePollErrorHandler - Deferring processing to the exception handler based on polling exception strategy
ERROR org.apache.kafka.clients.consumer.internals.ConsumerCoordinator - handle - [Consumer clientId=consumer-pdr-writer-service-2, groupId=pdr-writer-service] Offset commit failed on partition MY-TOPIC-0 at offset 166742: The coordinator is not aware of this member.
auto.commit.interval.ms = 5000
auto.offset.reset = latest
connections.max.idle.ms = 540000
session.timeout.ms = 10000
max.poll.interval.ms = 300000
max.poll.records = 500
partition.assignment.strategy = [org.apache.kafka.clients.consumer.RangeAssignor]
group.id = a438f569-5701-4a83-885c-9111dfcbc743
group.instance.id = null
heartbeat.interval.ms = 3000
enable.auto.commit = true
A log we only saw once, at the same time we had these issues.
Requesting the consumer to retry polling the same message based on polling exception strategy
Exception org.apache.kafka.common.errors.TimeoutException caught while polling TOPIC-NAME-Thread 0 from kafka topic TOPIC-NAME at offset {TOPIC-NAME/1=166743}: Timeout of 5000ms expired before successfully committing offsets {TOPIC-NAME-1=OffsetAndMetadata{offset=166744, leaderEpoch=null, metadata=''}}
ERROR org.apache.kafka.clients.consumer.internals.ConsumerCoordinator - handle - [Consumer clientId=consumer-pdr-writer-service-2, groupId=pdr-writer-service] Offset commit failed on partition TOPIC-NAME-1 at offset 166744: The coordinator is not aware of this member.