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Take a look on the destination endpoints under <rscd_install_path>/Transaction/log (usually /usr/nsh/Transaction/log) and look for the bldeploy log for your package. This log will contain the exact commands executed on the remote host and any stdout / stderr returned from those commands. It should give you an idea of what returned the exit code.
I figured it out...
Someone had pushed out the v8.0 agent to these two machines, and trying to push files using a 7.6 configuration manager to a 8.0 will result in this error.