User does not have authorization &1 for RFC destination &2

Message type: E = Error

Message class: BGRFC - qRFC - New Background RFC

Message number: 464

Message text: User does not have authorization &1 for RFC destination &2

What causes this issue?

The user does not have authorization to use the destination from
transaction SM59.

System Response

The system issues an error message and will not allow you to continue with this transaction until the error is resolved.

How to fix this error?

The destination was associated with an authorization in transaction
SM59. Check "Logon and Security" to find out which authorization is
missing.
The specified literal must be entered in the authorization profile of
the calling user in authorization object S_ICF.