Yubikey - luks-seal pcscd complaints

[sourceXORapprentice]

After doing a clean run through, I cannot seem to get past a Yubikey initialization issue on Ubuntu 20.04.3, see below.
Running sudo systemctl restart pcscd prior to luks-seal results in the complaints disappearing. However, they reappear on boot and unseal fails.

Example:

$ sudo safeboot luks-seal
New unsealing PIN: 
Unsealing PIN again: 
Using placeholder TPM counter version
Sealing secret with TPM, storing sealed secret in 0x1500010
persistent-handle: 0x81110000
action: evicted
persistent-handle: 0x81110000
action: persisted
/dev/nvme0n1p3: Current recovery password: 
Removing old LUKS TPM key (if it exists)
Adding new LUKS TPM key
/dev/nvme0n1p3: sealed with PCR 0,2,4,5,7,14
-------- Need to sign PCR and counter values --------
Starting PCSCD for yubikey support
00000000 [140487869220800] utils.c:81:GetDaemonPid() Can't open /run/pcscd/pcscd.pid: No such file or directory
WARN: Reading full size of the NV index
00005040 [140487869220800] ifdhandler.c:150:CreateChannelByNameOrChannel() failed
00000009 [140487869220800] readerfactory.c:1105:RFInitializeReader() Open Port 0x200000 Failed (usb:1050/0407:libudev:0:/dev/bus/usb/001/002)
00000004 [140487869220800] readerfactory.c:376:RFAddReader() Yubico YubiKey OTP+FIDO+CCID init failed.
00002802 [140487869220800] ifdhandler.c:150:CreateChannelByNameOrChannel() failed
00000007 [140487869220800] readerfactory.c:1105:RFInitializeReader() Open Port 0x200000 Failed (usb:1050/0407:libudev:1:/dev/bus/usb/001/002)
00000005 [140487869220800] readerfactory.c:376:RFAddReader() Yubico YubiKey OTP+FIDO+CCID init failed.
/boot/efi/EFI/linux/linux.efi: TPM version 0000000000000010
  sha256:
    0 : 0x9977A8F1C55C8F84D90BF957DE2CA0273544EEDC0588AA8F65AF5DB3D21D5AD0
    2 : 0x3D458CFE55CC03EA1F443F1562BEEC8DF51C75E14A9FCF9A7234A13F198E7969
    4 : 0xC21340E5EC0F58AF9BD0D8B75653016E15128DB9CFFDEE443DEF7D2A08D19737
    5 : 0xD81D958F078A2896CFCB3A823752AB152885EC7B5CEA9507C8451536C8AE699D
    7 : 0xFFB56EA74186154E4434AC1A1DBEB3A5E93461FC33B9D63C2F23FEBA6219B652
warning: data remaining[109475816 vs 109485432]: gaps between PE/COFF sections?
PCR2: ignoring BootMenu entries
/boot/efi/EFI/linux/linux.efi: PE hash 01daabb7487e2e8a5ffa336faac97edd0a4b93a238a5cc8fb85be19d0aca4e79
PCR4 1109cfd4f16834aa0bc96fe80fc2cd803b134f02bf403bf2ac1e804268cc38d1
mode=linux PCR14=4cc49932dc91c7021e5cfee8231a5f2da3ac1de6df7a7aeff333cc8dfd230f28
final PCRs:
9977a8f1c55c8f84d90bf957de2ca0273544eedc0588aa8f65af5db3d21d5ad0
3d458cfe55cc03ea1f443f1562beec8df51c75e14a9fcf9a7234a13f198e7969
1109cfd4f16834aa0bc96fe80fc2cd803b134f02bf403bf2ac1e804268cc38d1
d81d958f078a2896cfcb3a823752ab152885ec7b5cea9507c8451536c8ae699d
ffb56ea74186154e4434ac1a1dbeb3a5e93461fc33b9d63c2f23feba6219b652
4cc49932dc91c7021e5cfee8231a5f2da3ac1de6df7a7aeff333cc8dfd230f28
Using TPM counter 0000000000000010
engine "pkcs11" set.
Enter PKCS#11 token PIN for castle:
Enter PKCS#11 key PIN for SIGN key:
/sys/firmware/efi/efivars/SafebootPCR-8620893e-c793-457e-8a02-41fc83eef3ce: writing new value
/tmp/tmp.OxvuOyeKIQ: Unmounting

Booting this on recovery results in:

00000000 [139785720018880] ifdhandler.c:150:CreateChannelByNameOrChannel() failed
00000046 [139785720018880] readerfactory.c:1105:RFInitializeReader() Open Port 0x200000 Failed (usb:1050/0407:libudev:0:/dev/bus/usb/001/002)
00000008 [139785720018880] readerfactory.c:376:RFAddReader() Yubico YubiKey OTP+FIDO+CCID init failed.
00002868 [139785720018880] ifdhandler.c:150:CreateChannelByNameOrChannel() failed
00000009 [139785720018880] readerfactory.c:1105:RFInitializeReader() Open Port 0x200000 Failed (usb:1050/0407:libudev:1:/dev/bus/usb/001/002)
00000005 [139785720018880] readerfactory.c:376:RFAddReader() Yubico YubiKey OTP+FIDO+CCID init failed.
  Volume group "ubuntu-vg" not found
  Cannot process volume group ubuntu-vg
TPM mode=linux pcrs=0,2,4,5,7 14
  sha256:
    0 : 0x9977A8F1C55C8F84D90BF957DE2CA0273544EEDC0588AA8F65AF5DB3D21D5AD0
    1 : 0x212AE774AC787B4D5E2DD7D5B744DD9909F8F80B9504BF0F37CF951006622FBD
    2 : 0x3D458CFE55CC03EA1F443F1562BEEC8DF51C75E14A9FCF9A7234A13F198E7969
    3 : 0x3D458CFE55CC03EA1F443F1562BEEC8DF51C75E14A9FCF9A7234A13F198E7969
    4 : 0x1109CFD4F16834AA0BC96FE80FC2CD803B134F02BF403BF2AC1E804268CC38D1
    5 : 0xD81D958F078A2896CFCB3A823752AB152885EC7B5CEA9507C8451536C8AE699D
    6 : 0x54D288E1A219FBE5F8239CBD879FD381305923ED1C83ABD6BB4850B797222F7E
    7 : 0xFFB56EA74186154E4434AC1A1DBEB3A5E93461FC33B9D63C2F23FEBA6219B652
    8 : 0x0000000000000000000000000000000000000000000000000000000000000000
    9 : 0x0000000000000000000000000000000000000000000000000000000000000000
    10: 0xCD1DCACFCF4935E7D74ADEBCB88C0F7DE543796FA3C56237788CDA1759CF56E5
    11: 0x0000000000000000000000000000000000000000000000000000000000000000
    12: 0x0000000000000000000000000000000000000000000000000000000000000000
    13: 0x0000000000000000000000000000000000000000000000000000000000000000
    14: 0x0000000000000000000000000000000000000000000000000000000000000000
    15: 0x0000000000000000000000000000000000000000000000000000000000000000
    16: 0x0000000000000000000000000000000000000000000000000000000000000000
WARN: Reading full size of the NV index
Using TPM counter 0000000000000011
WARNING:esys:../../tpm2-tss/src/tss2-esys/api/Esys_VerifySignature.c:302:Esys_VerifySignature_Finish() Received TPM Error 
ERROR:esys:../../tpm2-tss/src/tss2-esys/api/Esys_VerifySignature.c:103:Esys_VerifySignature() Esys Finish ErrorCode (0x000002db) 
ERROR: Esys_VerifySignature(0x2DB) - tpm:parameter(2):the signature is not valid
ERROR: Verify signature failed!
ERROR: Unable to run verifysignature
Unable to verify PCR signature
Nothing to read on input.
TPM mode=linux pcrs=0,2,4,5,7 14
  sha256:
    0 : 0x9977A8F1C55C8F84D90BF957DE2CA0273544EEDC0588AA8F65AF5DB3D21D5AD0
    1 : 0x212AE774AC787B4D5E2DD7D5B744DD9909F8F80B9504BF0F37CF951006622FBD
    2 : 0x3D458CFE55CC03EA1F443F1562BEEC8DF51C75E14A9FCF9A7234A13F198E7969
    3 : 0x3D458CFE55CC03EA1F443F1562BEEC8DF51C75E14A9FCF9A7234A13F198E7969
    4 : 0x1109CFD4F16834AA0BC96FE80FC2CD803B134F02BF403BF2AC1E804268CC38D1
    5 : 0xD81D958F078A2896CFCB3A823752AB152885EC7B5CEA9507C8451536C8AE699D
    6 : 0x54D288E1A219FBE5F8239CBD879FD381305923ED1C83ABD6BB4850B797222F7E
    7 : 0xFFB56EA74186154E4434AC1A1DBEB3A5E93461FC33B9D63C2F23FEBA6219B652
    8 : 0x0000000000000000000000000000000000000000000000000000000000000000
    9 : 0x0000000000000000000000000000000000000000000000000000000000000000
    10: 0xCD1DCACFCF4935E7D74ADEBCB88C0F7DE543796FA3C56237788CDA1759CF56E5
    11: 0x0000000000000000000000000000000000000000000000000000000000000000
    12: 0x0000000000000000000000000000000000000000000000000000000000000000
    13: 0x0000000000000000000000000000000000000000000000000000000000000000
    14: 0xF288272B5A7B99582CDEB3F756421A91A19828DE691511DCAB2D839AD28FF981
    15: 0x0000000000000000000000000000000000000000000000000000000000000000
    16: 0x0000000000000000000000000000000000000000000000000000000000000000
Falling back to user pass phrase
WARNING:esys:../../tpm2-tss/src/tss2-esys/api/Esys_NV_ReadPublic.c:309:Esys_NV_ReadPublic_Finish() Received TPM Error 
ERROR:esys:../../tpm2-tss/src/tss2-esys/esys_tr.c:210:Esys_TR_FromTPMPublic_Finish() Error NV_ReadPublic ErrorCode (0x0000018b) 
ERROR:esys:../../tpm2-tss/src/tss2-esys/esys_tr.c:321:Esys_TR_FromTPMPublic() Error TR FromTPMPublic ErrorCode (0x0000018b) 
ERROR in tpm2totp_loadKey_nv (/home/castle/safeboot/tpm2-totp/src/libtpm2-totp.c:639): 0x0000018b

ERROR in main (/home/castle/safeboot/tpm2-totp/src/tpm2-totp.c:441): 0x0000018b
No key available with this passphrase.
TPM mode=linux pcrs=0,2,4,5,7 14
  sha256:
    0 : 0x9977A8F1C55C8F84D90BF957DE2CA0273544EEDC0588AA8F65AF5DB3D21D5AD0
    1 : 0x212AE774AC787B4D5E2DD7D5B744DD9909F8F80B9504BF0F37CF951006622FBD
    2 : 0x3D458CFE55CC03EA1F443F1562BEEC8DF51C75E14A9FCF9A7234A13F198E7969
    3 : 0x3D458CFE55CC03EA1F443F1562BEEC8DF51C75E14A9FCF9A7234A13F198E7969
    4 : 0x1109CFD4F16834AA0BC96FE80FC2CD803B134F02BF403BF2AC1E804268CC38D1
    5 : 0xD81D958F078A2896CFCB3A823752AB152885EC7B5CEA9507C8451536C8AE699D
    6 : 0x54D288E1A219FBE5F8239CBD879FD381305923ED1C83ABD6BB4850B797222F7E
    7 : 0xFFB56EA74186154E4434AC1A1DBEB3A5E93461FC33B9D63C2F23FEBA6219B652
    8 : 0x0000000000000000000000000000000000000000000000000000000000000000
    9 : 0x0000000000000000000000000000000000000000000000000000000000000000
    10: 0xCD1DCACFCF4935E7D74ADEBCB88C0F7DE543796FA3C56237788CDA1759CF56E5
    11: 0x0000000000000000000000000000000000000000000000000000000000000000
    12: 0x0000000000000000000000000000000000000000000000000000000000000000
    13: 0x0000000000000000000000000000000000000000000000000000000000000000
    14: 0xF288272B5A7B99582CDEB3F756421A91A19828DE691511DCAB2D839AD28FF981
    15: 0x0000000000000000000000000000000000000000000000000000000000000000
    16: 0x0000000000000000000000000000000000000000000000000000000000000000
Falling back to user pass phrase
WARNING:esys:../../tpm2-tss/src/tss2-esys/api/Esys_NV_ReadPublic.c:309:Esys_NV_ReadPublic_Finish() Received TPM Error 
ERROR:esys:../../tpm2-tss/src/tss2-esys/esys_tr.c:210:Esys_TR_FromTPMPublic_Finish() Error NV_ReadPublic ErrorCode (0x0000018b) 
ERROR:esys:../../tpm2-tss/src/tss2-esys/esys_tr.c:321:Esys_TR_FromTPMPublic() Error TR FromTPMPublic ErrorCode (0x0000018b) 
ERROR in tpm2totp_loadKey_nv (/home/castle/safeboot/tpm2-totp/src/libtpm2-totp.c:639): 0x0000018b

ERROR in main (/home/castle/safeboot/tpm2-totp/src/tpm2-totp.c:441): 0x0000018b
/dev/mapper/ubuntu--vg-ubuntu--lv: clean, 113961/3858432 files, 2150577/15430656 blocks

I'm also unclear why tpm2-totp would reference back to the home directory (/home/castle/safeboot/tpm2-totp/src/tpm2-totp.c:441): 0x0000018b