"unsupported certificate purpose" error when connecting to Apache http 2.x with Mutual Authentication

Issue

• Mutual Authentication (two-way SSL) configuration in Apache httpd is not allowing (reponse http status 403 - forbidden) a clients to access an application. The error in the Apache httpd error_log is:

AH02039: Certificate Verification: Error (26): unsupported certificate purpose

• Client CA and intermediate CA on Nginx server, but when the client try to access the URL, client is receiving a 400 error, and also the below error from Nginx:

[info] 160002#0: *29 client SSL certificate verify error: (26:unsupported certificate purpose) while reading client request headers, client: 10.10.10.10, server: example.com, request: "POST /foo/bar HTTP/1.1", host: "example.com"