Hi,
We recommend build servers to use the same docker version that balenaOS is using, and that is currently vv20.10.x. Our build servers and development team uses that docker version, so please try downgrading to that.
We also provide a containerized build environment (see balena-yocto-scripts/balena-build.sh at master · balena-os/balena-yocto-scripts · GitHub) to isolate users from host dependencies which might be worth a try too.