I also installed the 5.13.9 kernel, again with the same unmet
dependency:

dpkg: dependency problems prevent configuration of 
linux-headers-5.13.9-051309-generic:
 linux-headers-5.13.9-051309-generic depends on libc6 (>= 2.33); however:
  Version of libc6:amd64 on system is 2.31-0ubuntu9.2.

To my surprise, I was able to boot using this kernel.
Package manager complains due to broken packages.
Also, I am unable to gather some of the logs:
cat: /proc/version_signature: No such file or directory
dmesg: read kernel buffer failed: Operation not permitted

Nevertheless, the displays work as they should. I'm attaching the logs I
got.

** Attachment added: "Logs from 5.13.9 with nvidia-driver-470"
   
https://bugs.launchpad.net/ubuntu/+source/linux/+bug/1938999/+attachment/5517306/+files/logs_2021-08-11_5.13.9-051309-generic_nv470.zip

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https://bugs.launchpad.net/bugs/1938999

Title:
  External displays not working on Thinkpad T490 with ThinkPad
  Thunderbolt 3 Dock

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