Try to clear more space than 95 MB. Try:
apt-get autoremove && apt-get autoclean

I think you need space to un-bzip the target tar file on the device. The temporary directory is probably needing more than 95 MB.

You could also un-bzip the file on another computer and:
tar -xvpf *.tar
the file to uncompress the filesystem right on the MMC card.