Unfortunately ERR 91 is the general code for 'something is not right'. Some other error codes mean a specific problem like a focussing fault or something, but 91 just means 'something else for which there is not a specific code has happened'.
It is often a poor connection fron lens to camera and so the cleaning trick can work, but its not always that problem.
You may want to let it happen a few more times and try to see if it seems to be associated with anything in particular like just after you change a lens or when you try to prefocus or something or maybe it is always with a particular lens or memory card. At least that may give you more of a clue as to what is happening.
But its most likely to be a send back to Canon job anyway