Israel's military says fired "warning shots" as crowds gathered around aid lorries but was "not aware of any casualties" from its fire.

U.S. special envoy Steve Witkoff was expected to arrive in Israel in a bid to salvage Gaza ceasefire talks and tackle a humanitarian crisis in the Palestinian enclave, where a global hunger monitor has warned that famine was unfolding.

At least 91 Palestinians were killed and more than 600 wounded while attempting to get aid in the past 24 hours, according to the Gaza Health Ministry.