You may experience this error when we create campaigns in SFDC using Marketo Campaign sync through a program.
The error that we are receiving indicates that the User Profile that Marketo uses to log into Salesforce doesn't have permissions inside of SFDC to create campaigns. To test this, log into Salesforce using the Marketo sync credentials and try to create an SFDC campaign. If you are unable to do so, then Marketo cannot create campaigns via the sync. You would need to work with your SFDC Admin to grant the Marketo sync user permission to create campaigns in SFDC.
If still there is an error, please contact the Salesforce support team, since this error is coming from Salesforce.