The Majority write concern you are using must wait for a majority (ie. 2 out of 3) of nodes to write the change to disk before a confirmation is returned to the client.

It sounds more like you are exhausting the resources on your nodes due to the high volume of inserts you are creating. Remember that an insert is a relatively expensive operation especially if you have a large number of indexes. You could review the indexes you have and see if they could be combined into compound indexes, or look at your schema design and see if you can reduce the number of documents you are inserting. Failing that, make sure your cluster is correctly sized for your workload.