Thank you all for the support! The mail about needing support for the V3.3 cards in opensc pointed me in the right direction. I relied on the information that the V3.3 is backwards compatible to the V2.1 but this does not seem to be the case. Compiling a fresh gpg 2.2.5 with --enable-ccid-driver from source did the trick for the linux machines.
Kind Regards, Klaus Römer
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