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**Apache Airflow version**: 2.1.0

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**OS**: Raspbian GNU/Linux 10 (buster)

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**Apache Airflow Provider versions**: apache-airflow-providers-sqlite==1.0.2

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**Deployment**:  Virtualenv

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**What happened**:

When using the insert_rows function of the sqlite hook the generated parametrized sql query has an invalid syntax. It will generate queries with the %s placeholder which result in the following error:

*Query*: INSERT INTO example_table (col1, col2) VALUES (%s,%s)

*Error*:
sqlite3.OperationalError: near "%": syntax error

*Stacktrace*:
  File "/home/airflow/.pyenv/versions/3.8.10/envs/airflow_3.8.10/lib/python3.8/site-packages/airflow/hooks/dbapi.py", line 307, in insert_rows
    cur.execute(sql, values)

I replaced the placeholder with "?" in the _generate_insert_sql function DbApiHook as a test. This solved the issue.

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**What you expected to happen**:

Every inherited method of the DbApiHook should work for the SqliteHook. Using the insert_rows method should generate the correct parametrized query and insert rows as expected.

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**How to reproduce it**:

1. Create an instance of the SqliteHook
2. Use the insert_rows method of the SqliteHook

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airflow/hooks/dbapi.py
"""
        A generic way to insert a set of tuples into a table,
        a new transaction is created every commit_every rows
        :param table: Name of the target table
        :type table: str
        :param rows: The rows to insert into the table
        :type rows: iterable of tuples
        :param target_fields: The names of the columns to fill in the table
        :type target_fields: iterable of strings
        :param commit_every: The maximum number of rows to insert in one
            transaction. Set to 0 to insert all rows in one transaction.
        :type commit_every: int
        :param replace: Whether to replace instead of insert
        :type replace: bool
        """
        i = 0
        with closing(self.get_conn()) as conn:
            if self.supports_autocommit:
                self.set_autocommit(conn, False)
            conn.commit()
            with closing(conn.cursor()) as cur:
                for i, row in enumerate(rows, 1):
                    lst = []
                    for cell in row:
                        lst.append(self._serialize_cell(cell, conn))
                    values = tuple(lst)
                    sql = self._generate_insert_sql(table, values, target_fields, replace, **kwargs)
                    cur.execute(sql, values)
                    if commit_every and i % commit_every == 0: