Prepared statement needs to be re-prepared

Stored procedures contain statement like:
SET @vartmp = ...;
PREPARE _stmt FROM @vartmp;
EXECUTE _stmt;

Sometimes the execution fails with error: mysql_errno:1615, mysql_warning_count:0, mysql_sqlstate:'HY000', mysql_error:'Prepared statement needs to be re-prepared'

No idea how to reproduce stably this issue. It happens randomly on various objects from time to time. No DDL operations during the execution.

MariaDB configuration:
table_open_cache = 60000
table_definition_cache = 60000

I'm happy to provide any information required to solve the problem.