Depending upon the Hive driver in use, prepared statement support may not be there. I believe in the beginning Hive did not have support but later drivers have the support. In Teiid you can turn off the prepared statement usage by adding the following the -vdb.xml file.
<translator name="hive-override" type="hive">
<property name="UseBindVariables" value="false"/>
then use the "hive-override" as the translator name on your model. An example here Translators · Teiid Documentation