I had this error back in March 2020 (see Inserting record into an empty dataset - WEB / TMS WEB Core - TMS Support Center (tmssoftware.com). I'm sure this was fixed, but the interim solution was to use Append instead of Insert. Now I think of it, I still do the following, so maybe it's not fixed.
If DataSet.IsEmpty then
Dataset.Edit
else
Dataset.Insert;