I had a similar issue after upgrading to 21.04.
Package linux-headers-<version> silently failed to build these config files due 
to lack of packages flex and bison.

sudo apt install flex bison
sudo dpkg-reconfigure linux-headers-<version> 

solved the problem, although the build still fails, but in a later
stage.

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https://bugs.launchpad.net/bugs/1916517

Title:
  ERROR: Kernel configuration is invalid.
  include/generated/autoconf.h or include/config/auto.conf are missing.

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