It appears that some kernel modules required by charon/StrongSwan are no
longer part of the default raspi-kernel. They are now part of a separate
package "linux-modules-extra-raspi". Installing this package allowed my
installation of StrongSwan to work unter Ubuntu 21.10.

I found this out by taking a look on other bug reports concerning linux-
raspi, especially this one about docker:

https://bugs.launchpad.net/ubuntu/+source/linux-raspi/+bug/1947601

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https://bugs.launchpad.net/bugs/1948044

Title:
  charon-systemd fails on raspberry pi systems under ubuntu 21.10

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