After explicitly loading the modules the test completes correctly:

sudo modprobe l2tp_ip6
sudo modprobe l2tp_ip
sudo modprobe l2tp_eth

$ sudo ./tools/testing/selftests/net/l2tp.sh 
TEST: IPv4 basic L2TP tunnel                                        [ OK ]
TEST: IPv4 route through L2TP tunnel                                [ OK ]
TEST: IPv6 basic L2TP tunnel                                        [ OK ]
TEST: IPv6 route through L2TP tunnel                                [ OK ]
TEST: IPv4 basic L2TP tunnel - with IPsec                           [ OK ]
TEST: IPv4 route through L2TP tunnel - with IPsec                   [ OK ]
TEST: IPv6 basic L2TP tunnel - with IPsec                           [ OK ]
TEST: IPv6 route through L2TP tunnel - with IPsec                   [ OK ]
TEST: IPv4 basic L2TP tunnel                                        [ OK ]
TEST: IPv4 route through L2TP tunnel                                [ OK ]
TEST: IPv6 basic L2TP tunnel - with IPsec                           [ OK ]
TEST: IPv6 route through L2TP tunnel - with IPsec                   [ OK ]
TEST: IPv4 basic L2TP tunnel - after IPsec teardown                 [ OK ]
TEST: IPv4 route through L2TP tunnel - after IPsec teardown         [ OK ]
TEST: IPv6 basic L2TP tunnel - after IPsec teardown                 [ OK ]
TEST: IPv6 route through L2TP tunnel - after IPsec teardown         [ OK ]

Tests passed:  16
Tests failed:   0

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https://bugs.launchpad.net/bugs/2013014

Title:
  net:l2tp.sh failure with lunar:linux 6.2

Status in ubuntu-kernel-tests:
  New
Status in linux package in Ubuntu:
  Incomplete
Status in linux source package in Lunar:
  Incomplete

Bug description:
  [Impact]

  Kernel selftest net:l2tp.sh is failing with the latest lunar/linux 6.2
  kernel, the error is the following:

    RTNETLINK answers: Protocol not supported

  Using `bash -x` we can see that the last command executed is the
  following:

    ip -netns host-1 l2tp add tunnel tunnel_id 1041 peer_tunnel_id 1042
  encap ip local 10.1.1.1 remote 10.1.2.1

  [Test case]

  From the kernel source directory run:

   $ sudo ./tools/testing/selftests/net/l2tp.sh

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