I have recently installed Apache Guacamole on Ubuntu 20.04 and also tested with the same result on 21.10. I have it all working but have had to do some workarounds because of this issue.
Here is the guide I created after I had completed my install and figured out all the issues.
My question is around whether anyone knows of a way to make guacd listen on both IPv4 and v6? My work around was orginally to disable IPv6 on the server but that needs to be run on each startup. I then discovered I could change the listening address to 127.0.0.1 and it would listen on IPv4 instead of v6. I know this is probably the fix but I don't understand why I can't make guacd listen on both.