I found this link talking about the same error. https://lists.yoctoproject.org/g/yocto/topic/meta_raspberrypi_error_with/78879953
Indeed, the contents of IMAGE_BOOT_FILES has issues. But when overlays/uart0-pi5.dtbo is added, both uart0-pi5.dtbo and overlays/uart0-pi5.dtbo are added. This should be the cause.
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