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Error message with Zendesk Integration
We have an integration with Zendesk and all profiles, except for the System Administrator, are receiving the following error message. Is tnis something on the Salesforce side or the Zendesk side? 
It looks like an error of salesforce where you dont have permission on the record you want to perform action.
Are you storing Zendesk support tickets in any of the custom objects in salesforce?
If yes then check the object level access for all the profiles you are getting error.
Thanks,
Nitish
Did you check the sharing settings as well?
Please go through this link it might help.
https://help.salesforce.com/articleView?id=admin_insufficient_privileges_map.htm&type=5 (https://help.salesforce.com/articleView?id=admin_insufficient_privileges_map.htm&type=5)
Thanks,
Nitish