I came across this thread whilst googling RasPiOS Bookworm Lite with GUI on Pi5 - Raspberry Pi Forums
Its the same message you have in your logs.
It mentions installing gldriver-test - thats a package for raspberry os available here Index of /debian/pool/main/g/gldriver-test
Absolutely no idea if the 0.15.deb will work on ubuntu - but if you are up for more testing well worth downloading this .deb and installing it i.e. change the the folder you have downloaded to and run
sudo apt install raspi-config
sudo apt install ./gldriver-test_0.15_all.deb