Based on the output of HDFS command:
hdfs dfs -ls -R /tmp/logs/hive/logs
we noticed that the those directories were owned by hive:hive, and the YARN logs showed the following error:
could not read the contents of hdfs://nameservice1/tmp/logs/hive/logs
Permission denied: user==mapred, access=EXECUTE, inode="/tmp/logs/hive":hive:hive:drwxrwx---
This confirms that the issue was caused by wrong permission/ownership of files/directories under /tmp/logs/hive/logs, as user "yarn" is not able to remove files/directories that is only owned by "hive:hive".