I define “inspiration” as a deeper insight gained through the working of the Spirit than that which one was able to comprehend previously - or is able to comprehend on her own. A classic definition: “a divine influence directly and immediately exerted upon the mind or soul”
Neither of these definitions addresses truth or error in any way. If an ancient prophet came to a greater understanding than an earlier prophet, but the “new” understanding still was not the full truth, then such an insight would fit both definitions of “inspiration” - even though, from an absolute truth standard, the new understanding still could be seen as “error”.
Frankly, I don’t think we understand very many, if any, things fully (as God understands them); therefore, we believe things to be “true” (as true as we possibly can conceive), but we also believe that God “will yet reveal many great and important things pertaining to the