I wouldn't regard it as 'normal', I suspect it is benign and was occurring on earlier versions of the package. I've seen it occasionally when my ISP wan link drops. The message is in essence 'permission denied'. Once every 24 hours is not something I would worry about.
Investigating further would probably start with running 'strace' on dnsmasq to see how the 'sendmsg' syscall is failing. Then getting a bit more info on the offending socket file descriptor.
strace -Z --trace=sendmsg -p $(pidof dnsmasq)
lines beginning "sendmsg(11, {msg_name={sa_family=AF_INET, sin_port=htons(41774)," would be of interest, taking the file handle (11 in this case) into readlink to get an inode
'readlink /proc/$(pidof dnsmasq)/fd/11' - returns a socket number e.g. socket:[2081468]
Then get some socket details with "grep 2081468 /proc/$(pidof dnsmasq)/net/{tcp,tcp6,udp,udp6}"
But I very much doubt this effort is going to reveal anything particularly magical/dangerous.